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Interbotix / interbotix_ros_manipulators

ROS Packages for Interbotix Arms
BSD 3-Clause "New" or "Revised" License
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[Question]: python_ros2_api/joint_trajectory_control.py #152

Open bestrobotplans opened 5 months ago

bestrobotplans commented 5 months ago

Question

Hello!

I am running a copy of the file python_ros2_api/joint_trajectory_control.py in simulation. I start up the simulation by: ros2 launch interbotix_xsarm_control xsarm_control.launch.py robot_model:=wx250s use_sim:=true The I run python3 joint_trajectory_control.py in the relevant folder.

I was expecting the output to be a three-part movement trajectory (ignoring the go to home pose and go to sleep parts). Yet I only seem to get a single movement corresponding to {6.0: [-0.5, 0.0, 0.0, 0.0, 0.5, 0.0]}. The robot also only changes behaviour when I change {6.0: [-0.5, 0.0, 0.0, 0.0, 0.5, 0.0]}. Edits to any other component of the trajectory list have no effect. There is also a weird jumpy jerk in the simulation after the end of go_to_home_pose.

Am I using the program wrong or is this the correct behaviour? How do I make an n-part trajectory if edits to the trajectory variable have no effect besides at the final entry of the list?

Some further tips would be great, thank you!

Robot Model

wx250s simulation

Operating System

Ubuntu 20.04

ROS Version

ROS 2 Galactic

Additional Info

No response

lukeschmitt-tr commented 5 months ago

Thanks for reporting this. It does seem like a bug in the XS Simulation. We'll look into it.