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- 5 commits
- 4 files changed
- 1 contributor
Commits on Feb 25, 2025
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In servo mode always allow targets close to current pose (#273)
If the target has been interpolating too far away from the robot, so it would trigger the limit check, but the target is close to where the robot currently is, also accept the command. This can, for example, happen if a command series was too fast for the robot to follow, which triggers a path deviation on the commanding side and that is mitigated by a hold-position command.
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Remove sending an idle command in quintic spline test (#275)
Sending an idle command makes the URScript send a cancelled trajectory result sent back.
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Fix trajectory result in trajectory forward mode when no trajectory i…
…s running (#276) Currently, when switching the control mode away from FORWARD, there will always a trajectory result CANCELED sent to the trajectory socket. This commit modifies the script code such that this will only be done when there actually is a trajectory running. It also adds a test for that.
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