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personalrobotics / or_rviz

OpenRAVE viewer plugin that publishes the environment to RViz as InteractiveMarkers.
BSD 2-Clause "Simplified" License
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GetDOFValues() sometimes shows different joint values before you "Set DOF values" #31

Open DavidB-CMU opened 8 years ago

DavidB-CMU commented 8 years ago

If you do this in simulation:

print robot.left_arm.GetDOFValues()

and move the interactive marker on HERB's gripper, the DOF values will briefly change before going back to the current value.

.

Sample output:

Left arm: [ 0.64 -1.76 0.26 1.96 1.16 0.87 1.43]

Left arm: [ 0.64 -1.76 0.26 1.96 1.16 0.87 1.43]

Left arm: [ 0.64 -1.76 0.26 1.96 1.16 0.87 1.43]

Left arm: [ 1.52563504 -1.02107609 0.26 1.46940765 -0.09560255 0.72554407 1.79008285]

Left arm: [ 0.64 -1.76 0.26 1.96 1.16 0.87 1.43]

Left arm: [ 0.64 -1.76 0.26 1.96 1.16 0.87 1.43]

Left arm: [ 0.64 -1.76 0.26 1.96 1.16 0.87 1.43]

Left arm: [ 0.64 -1.76 0.26 1.96 1.16 0.87 1.43]

.

And sometimes the DOF values will change even if you don't move the interactive marker at all:

Left arm: [ 0.68736719 -1.62339552 0.26 1.78412589 1.03275265 0.8791257 1.50576206]

Left arm: [ 0.68736719 -1.62339552 0.26 1.78412589 1.03275265 0.8791257 1.50576206]

Left arm: [ 0.68736719 -1.62339552 -2.74016693 1.78412589 1.03275265 0.8791257 1.50576206]

Left arm: [ 0.68736719 -1.62339552 0.26 1.78412589 1.03275265 0.8791257 1.50576206]

Left arm: [ 0.68736719 -1.62339552 0.26 1.78412589 1.03275265 0.8791257

mkoval commented 8 years ago

Interesting. It sounds like we're missing a lock somewhere. Is this using the in-process viewer (rviz) or the out-of-process viewer (interactivemarker)?

DavidB-CMU commented 8 years ago

I double-checked and it occurs with both the in-process and out-of-process viewers.