Dave Coleman

i closed it because no good solution seemed to have ever been found, but i'll close PRs with a little more caution

+1! @jonbinney great analysis of the discontinuity in joint limits for IK solvers. I am a big proponent of passing in the RobotModel to all IK solvers because it also...

+1

These two parameters are not clear to me, either. Any progress?

+1 would be nice to have if someone implemented it.

Would be great if someone was interested in porting this PR to the new repo, but I have lost interest in it so will close it for now.

Sure no problem, though its my PR so can close as I wish ;-)

I'm not sure, but it has advantages when you are trying to benchmark the same particular motion over and over

There is already a check [here in move_action_capability](https://github.com/ros-planning/moveit_ros/blob/f1609ad04a28e4ee04f09bbad6d5493507d1145c/move_group/src/default_capabilities/move_action_capability.cpp#L113) that replaces an outdated start state with the current start state when running "Plan And Execute". It also [displays the message](https://github.com/ros-planning/moveit_ros/blob/f1609ad04a28e4ee04f09bbad6d5493507d1145c/move_group/src/move_group_capability.cpp#L91) "Execution...

No errors are displayed in any of the consoles, with debug output enabled. To reproduce this issue: ``` git clone [email protected]:davetcoleman/baxter_common.git -b dual_parallel_collision_work ``` build then ``` roslaunch baxter_moveit_config_test demo.launch...