Strange behaviour with set_servo_angle(single servo) command

Interactions-HSG / xarm-grpc

A command-line interface for xArm-C++-SDK to interact with UFACTORY xArms

Eclipse Public License 2.0

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Strange behaviour with set_servo_angle(single servo) command #44

Open jo-bru opened 2 years ago

jo-bru commented 2 years ago

sending a set_servo_angle for a single angle right after initialization results in moving the robot with the given angle AND other all angles to the home position. This can be recreated by doing the following:

xarm-commander initialize -x 130.82.171.9
xarm-commander set_position
xarm-commander disconnect
xarm-commander initialize -x 130.82.171.9
xarm-commander set_servo_angle -i 1 -a 20

jo-bru commented 2 years ago

other angles are then probably set to last_used_angles

jo-bru commented 2 years ago

An investigation has shown:

the set_servo_angle used with a single servo angle will take the values stored in last_used_angles for all other angles.
as the last_used_angles is a property of the XArmAPI* api object (Service Property), this value is not stored on the controller and therefore will be newly initialized for each new connection.