Plan to cartesian with movingSubset failed silently #216
Description
Klampt version: 0.10.1
Python version: 3.12.11
Current robotplanning.plan_to_cartesian_objective may fail silently when a subset of the robot joints is active.
plan = robotplanning.plan_to_cartesian_objective(world,robot,[ik_objective],movingSubset=active_dofs, **PLANNER_SETTINGS)
plan.planMore(50) # silently failed
A potential walkaround.
goalcspace = robotcspace.ClosedLoopRobotCSpace(robot,[ik_objective],None)
goalcspace.setIKActiveDofs(active_dofs)
activecspace = robotcspace.EmbeddedRobotCSpace(robotcspace.RobotCSpace(robot),active_dofs)
goalset = [lambda q: goalcspace.feasible(q), lambda: goalcspace.solveConstraints(activecspace.lift(activecspace.sample()))]
plan = robotplanning.plan_to_set(world,robot,goalset,movingSubset=active_dofs,**PLANNER_SETTINGS)
plan.planMore(50) # successful planning