When testing the human/robot interaction in the exhibit hall, the robot started shaking and lost control when holding the box. It is possible that the left or rightCartesian control actions were called by the behaviour tree (BT). Holding a box from underneath is a known singular configuration which could explain this problem.
Here are my suggestions for preventing further problems:
[ ] Call grasp() when holding the box - when in grasp mode, the low level control will prevent the robot from doing anything else until release() is called.
[ ] Remove the actions in the cartesian_actions.ini and grasp_actions.ini config files (it is sufficient to remove them from the names list rather than deleting all the trajectory data). This will prevent the command server from loading any actions, so even if one is accidentally called from the BT, the command server will not respond.
[ ] Replicate the problem in Gazebo using the command prompt client to ensure it works.
When testing the human/robot interaction in the exhibit hall, the robot started shaking and lost control when holding the box. It is possible that the
leftorrightCartesian control actions were called by the behaviour tree (BT). Holding a box from underneath is a known singular configuration which could explain this problem.Here are my suggestions for preventing further problems:
grasp()when holding the box - when in grasp mode, the low level control will prevent the robot from doing anything else untilrelease()is called.cartesian_actions.iniandgrasp_actions.iniconfig files (it is sufficient to remove them from thenameslist rather than deleting all the trajectory data). This will prevent the command server from loading any actions, so even if one is accidentally called from the BT, the command server will not respond.