mirror of
https://github.com/moveit/moveit_task_constructor.git
synced 2025-11-04 14:49:57 +08:00
ComputeIK: update state to avoid dirty transforms
This commit is contained in:
parent
69d3d8bd37
commit
9709fd687d
@ -242,6 +242,7 @@ void ComputeIK::onNewSolution(const SolutionBase &s)
|
|||||||
// set scene's robot state
|
// set scene's robot state
|
||||||
robot_state::RobotState& robot_state = scene->getCurrentStateNonConst();
|
robot_state::RobotState& robot_state = scene->getCurrentStateNonConst();
|
||||||
robot_state.setJointGroupPositions(jmg, ik_solutions.back().data());
|
robot_state.setJointGroupPositions(jmg, ik_solutions.back().data());
|
||||||
|
robot_state.update();
|
||||||
|
|
||||||
spawn(InterfaceState(scene), std::move(solution));
|
spawn(InterfaceState(scene), std::move(solution));
|
||||||
}
|
}
|
||||||
|
|||||||
Loading…
Reference in New Issue
Block a user