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我在使用yolo得到了机械臂抓取点和放置点的坐标后 转换到基坐标系下 使用笛卡尔空间规划 发现一直规划失败 排除了避障或奇异点问题 测试发现机械臂可以到达抓取点 但是轨迹规划始终无法进行 请问有大神有思路么