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@jarvisschultz:

and jump threshold 0.000000

so 0, meaning : disabled, meaning: all joint configurations are acceptable.

@jarvisschultz:

and jump threshold 0.000000

so 0, meaning : disabled, meaning: all joint configurations are acceptable.

So I guess the problem has to do with the planning algorithm

there is no planning. compute_cartesian_path(..) only interpolates.

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