Continuous joints not supported (silently)

[henningkayser]

When running pick_ik with robot models that have continuous (as unbounded) joints, pick_ik will fail to produce solutions reliably.

Reason: get_random_valid_configuration() will sample states that have inf for joint values, since bounds are set to the numeric limits which the distribution sampler doesn't support

Behavior: FK will silently add nan, inf, or 0 to transforms which in turn fail to compute any useful distance metrics.

We should either check for these cases and warn, or implement a random sampler that supports infinite (or numeric limits) bounds.

[sea-bass]

Oof, nice catch!

What do you think of continuous joints being handled as sampled from 0 to 2*pi radians, and once a solution is achieved snapping it to the closest multiple of 2*pi to its initial seed?

EDIT: The above suggestion assumes revolute joints, which is not necessarily the case.

[MarqRazz]

FYI the continuous joints on the Kinova are -pi to pi so you might want to decrease the range.

[MarqRazz]

@sea-bass what version of Studio are you targeting? Could you please update the milestone?

[sea-bass]

Not necessary to get this in anytime soon since we punted on pick_ik -- can't add a milestone since this PR is not in the Studio repo.