Fix when switching kinematics while in teleop mode with machine enabled

[fsabbatini89]

Fix when switching kinematics while in teleop mode with machine enabled. Pos command would just to sync cartesian pos to joint pos instead of sync joint pos to cartesian pos
Previous synch was only in coordinated mode only

[petterreinholdtsen]

[fsabbatini89]

Fix when switching kinematics while in teleop mode with machine enabled. Pos command would just to sync cartesian pos to joint pos instead of sync joint pos to cartesian pos Previous synch was only in coordinated mode only

Thank you for the change proposal. Is there some way to trigger the problem in a test script (to be written and placed under tests/), that can demonstrate that your patch solve the problem?

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-- Happy hacking Petter Reinholdtsen

[fsabbatini89]

No, there is no test in gcode to do, while in jog mode changing the kinematics will make a huge jump to syncronize joint.xxxx.pos-cmd to new command in kinematics instead of synchronize joint.xxxx.pos-cmd to joint.xxx.pos-fb with forward kinematics (just in teleop, in cartesian coordinates AKA auto ,works fine the way it was). To test it out just change motion.kins-type with halshow

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On Fri, Aug 9, 2024 at 3:22 AM petterreinholdtsen ***@***.***> wrote: [fsabbatini89] > Fix when switching kinematics while in teleop mode with machine > enabled. Pos command would just to sync cartesian pos to joint pos > instead of sync joint pos to cartesian pos > Previous synch was only in coordinated mode only Thank you for the change proposal. Is there some way to trigger the problem in a test script (to be written and placed under tests/), that can demonstrate that your patch solve the problem? -- Happy hacking Petter Reinholdtsen — Reply to this email directly, view it on GitHub <#3058 (comment)>, or unsubscribe <https://github.com/notifications/unsubscribe-auth/AGHI2URS7KETOZS526N7SYTZQRN27AVCNFSM6AAAAABMGJMT76VHI2DSMVQWIX3LMV43OSLTON2WKQ3PNVWWK3TUHMZDENZXGIZTANRXGE> . You are receiving this because you authored the thread.Message ID: ***@***.***>

-- Franco

[Sigma1912]

I'm having trouble understanding this issue. Could you give an example how to reproduce the issue using one of the built in simulation configs that use switchable kinematics?

[Sigma1912]

Also there are two preceding commits where the second looks like a fix for the first. Could you provide some more background about the issue for that? Is this "Fix error joint limits zeroing variables before using " related to switchable kinematics?

[Sigma1912]

Finally, he last commit does not compile.
Are you sure you modified the correct file?

[fsabbatini89]

Hi Sigma! Yes I am sure, the reason it does not compile is I didn’t pull the last changes before making the changes Let me fix that and I will do a pull request again Regards, Franco El El mar, 13 ago 2024 a la(s) 3:51 a. m., Sigma1912 < ***@***.***> escribió:

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Finally, he last commit does not compile. Are you sure you modified the correct file? — Reply to this email directly, view it on GitHub <#3058 (comment)>, or unsubscribe <https://github.com/notifications/unsubscribe-auth/AGHI2UQE3XUKOQUNDEIF5ULZRGUGXAVCNFSM6AAAAABMGJMT76VHI2DSMVQWIX3LMV43OSLTON2WKQ3PNVWWK3TUHMZDEOBVGQ3TCMBYGI> . You are receiving this because you authored the thread.Message ID: ***@***.***>

[Sigma1912]

@fsabbatini89
Are you still still interested in fixing this PR?
As an alternative it would also be helpful to submit a description of the issue and how it can be reproduced in the issues section.
Thanks