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End-state deviates from goal state#532

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rhaschke merged 8 commits intomoveit:mastermoveit/moveit_task_constructor:masterfrom captain-yoshi:conect-stage-validationcaptain-yoshi/moveit_task_constructor:conect-stage-validationCopy head branch name to clipboardFeb 25, 2024

+40-2

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Commits on Feb 21, 2024

• Validate connect stage deviation: end trajectory with goal

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Commits on Feb 22, 2024

• [fix] compute shortest angular distance only on revolute joints

  captain-yoshi

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• [refac] move validation into it's own method

  captain-yoshi

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Commits on Feb 23, 2024

• [fix] compute joint difference

  captain-yoshi

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• [impl] expose deviation threshold to stage property

  captain-yoshi

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Commits on Feb 24, 2024

• simplify

  rhaschke

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Commits on Feb 25, 2024

• Add corresponding unit test

  rhaschke

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• fixup! simplify

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