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flexivrobotics / flexiv_rdk

RDK (robotic development kit) for Flexiv robots. Supports C++ and Python. Compatible with Linux, macOS, and Windows.
Apache License 2.0
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[BUG] flexiv::Robot::isBusy() sometimes gives false negative #26

Closed pzhu-flexiv closed 8 months ago

pzhu-flexiv commented 1 year ago

Version information

Describe the bug flexiv::Robot::isBusy() has a chance to return false even if the robot is doing some task.

Steps to reproduce

  1. Setup a connection between RDK client and the robot that has a fluctuating round-trip network latency, with peak value > 50ms.
  2. Call flexiv::Robot::executePrimitive()
  3. Immediately after, call isBusy() and check the return value.
  4. Depending on the network fluctuation, the return value will sometimes be false even if the robot is already executing the commanded primitive.

Expected behavior isBusy() always returns the correct value.

pzhu-flexiv commented 1 year ago

Will be fixed in v0.9.