search

HALRobotics / Beta

HAL Robotics Framework beta release and associated documentation.
17 stars 3 forks source link

Strange behavior for the first PTP target #55

Closed lionpeloux closed 5 years ago

lionpeloux commented 5 years ago

Hi,

My config : HAL 1.2.10 beta Rhino 6 SR8 MACOS 10.13.6 VMWare Fusion 10.1.0 with WIN7 PRO SP1

Apparently when the first target is at the same position as the "default" mechanism position, the simulation behaves incorrectly : the robot wait in the default position for a certain period of time and does not start moving immediately to the next position, like if it was moving to the already achieved position.

Lionel

sebandraos commented 5 years ago

I can repro this so will look into it. The temporary workaround is to change your starting point or the Initial Joint Positions of the robot by something small that your program can tolerate like ±0.01 degrees on axis 6.

sebandraos commented 5 years ago

Corrected in new update