Forward kinematics cannot be spammed.

pollen-robotics / reachy2-sdk

Reachy 2 Python SDK

https://www.pollen-robotics.com

Apache License 2.0

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Closed simheo closed 4 months ago

simheo commented 5 months ago

When calling

reachy.l_arm.forward_kinematics()

at 1Hz, the fk returns always the same results, even if the arm is moving whereas calling

reachy.l_arm.forward_kinematics(reachy.l_arm.get_joints_positions())

works.

glannuzel commented 4 months ago

We do not manage to reproduce the issue so far, we'll see if it is back in specific conditions