The system will check for IK whenever it creates a gripper mesh, coloring it appropriately. This means it checks for IK solutions at unnecessary times:
- When saving a pose (because poses are demonstrated kinesthetically there must be an IK solution)
- When loading a previously recorded action
It's only necessary to solve IK:
- When a pose is edited in rviz
- Prior to executing an action (because the torso height might change)
- When executing and a pose is relative to a landmark
The unnecessary checks do slow down the execution quite a bit, it takes O(# actions) seconds to load an action.
The system will check for IK whenever it creates a gripper mesh, coloring it appropriately. This means it checks for IK solutions at unnecessary times:
It's only necessary to solve IK:
The unnecessary checks do slow down the execution quite a bit, it takes O(# actions) seconds to load an action.