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RethinkRobotics / baxter_simulator

Gazebo Simulation interface for the Baxter Research Robot
http://sdk.rethinkrobotics.com/wiki/Baxter_Simulator
BSD 3-Clause "New" or "Revised" License
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VELOCITY_MODE is not followed correctly on joints 4 to 7 #59

Closed rethink-imcmahon closed 8 years ago

rethink-imcmahon commented 9 years ago

From Unige on the brr-users group: "I was playing around with the simulator and initially, till I was using POSITION_MODE to control the joints everything was fine. Then when I tried to switch to VELOCITY_MODE I noticed that from joint 4 to 7 the velocity is not followed correctly, and only for mid-high velocities (2 to 6 r/s) you can see the joint moving. I thought it was a problem of my implementation but I tried on the real Baxter and everything was working correctly."

Details on how to reproduce this issue to follow.

rethink-imcmahon commented 8 years ago

I haven't heard anything more about this, so I'll close this issue, to be reopened if it surfaces again.

xli4217 commented 6 years ago

I'm recently struggling with the same problem for all the joints. Even commanding all joint velocities to be zero fails in the simulator. Help would be much appreciated. Thanks.