Carl Poppa

I cannot reproduce this somehow. `master` branch produces correct results for me.

Hi RYANZYC! Can you scroll up in your first picture, and upload those several lines that just go before this very first line in the first picture: > INFO: [[1,...

Hi RYANZYC! It seems to me that for your Yumi robot, no consecutive three joint axes (among the seven joints j0, j1, ..., j6) intersect at a point in 3D...

Usually FREE_INDEX=0 would be a good choice, because we can set some value for j0 (discretize [0, 2*pi] and choose different j0 values) and call an IK solver to solve...

Back then I did have a version that uses only json to assign planner parameters between derived classes.