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jrl-umi3218 / mc_rtc

mc_rtc is an interface for simulated and real robotic systems suitable for real-time control
BSD 2-Clause "Simplified" License
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Disable PostureTask reset in FSM state transtion #353

Closed mmurooka closed 1 year ago

mmurooka commented 1 year ago

The following line resets the PostureTask in the FSM state transition, which is inconvenient when performing motions in sequence while transitioning between FSM states. Do you think it is reasonable to introduce an option to disable this reset?

https://github.com/jrl-umi3218/mc_rtc/blob/b2fe81b4f418c8251d85d3ceee974c0ba7e0610a/src/mc_control/fsm/Executor.cpp#L203

gergondet commented 1 year ago

Yes. In fact I think it should be removed from there.

I added there because it seems I thought it was a good idea to reset between each transitions (https://github.com/jrl-umi3218/mc_rtc/commit/275fb77c45c8dd00e7613215385d86c189f6b054). In practice it's:

  1. Not often desirable
  2. Badly placed: this reset is most unwelcome with parallel states and it should only be done (if at all) if the executor is the main executor