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Add initial point to named trajectories #248

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toliver opened this issue Mar 9, 2017 · 0 comments

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toliver commented Mar 9, 2017

Modify make_named_trajectory so that it inserts an initial point with the current position.

https://github.com/shadow-robot/sr_interface/blob/indigo-devel/sr_robot_commander/src/sr_robot_commander/sr_robot_commander.py#L375

This should avoid this type of moveit error.

[ERROR] [1489076046.737936403]: 
Invalid Trajectory: start point deviates from current robot state more than 0.03
joint 'ra_wrist_3_joint': expected: 0.366418, current: 2.16414
[ INFO] [1489076046.737998257]: Execution completed: ABORTED

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