Open DavidB-CMU opened 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
)?
I double-checked and it occurs with both the in-process and out-of-process viewers.
If you do this in simulation:
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