Closed acf986 closed 5 months ago
@acf986 Does the issue occur also for other update frequencies? For example, 1Hz, 10Hz and 100Hz.
@pzhu-flexiv As long as the robot is in the NRT_CARTESIAN_MOTION_FORCE mode, it will happen. However, the same trajectory (up sampled) in RT_CARTESIAN_MOTION_FORCE mode runs fine.
@acf986 Thanks for the information, we have repeated the bug and will look into it
@pzhu-flexiv May I know is there any update on this issue? Or the possibility of any walk around?
@acf986 We found the issue, but it's not from the RDK client side, but in the robot controller. Please wait for a hotfix.
Version information
Describe the bug The robot arm move in an unsafe and violent way when executing specific trajectory in NRT motion force mode. The same issue as described in this issue.
Steps to reproduce
Expected behavior The arm moves smoothly.
Screenshots NA
Additional context Suspect there's a bug in the flexiv's reference generator. The same trajectory can be executed by RT MOTION FORCE mode without any problem. (You can up-sample the reference from 50Hz to 1000Hz with linear interpolation and give it a try.)