Fix missing joint_position_action in path (#371)

* Fix missing joint_position_action in path * Fix test
stepjam · Apr 10, 2024 · cd9830b · cd9830b
1 parent 076ca15
commit cd9830b
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Showing 2 changed files with 3 additions and 2 deletions.
diff --git a/.github/workflows/build.yml b/.github/workflows/build.yml
@@ -32,7 +32,7 @@ jobs:
           # start xvfb in the background
           sudo /usr/bin/Xvfb $DISPLAY -screen 0 1280x1024x24 &
           cur=`pwd`
-          wget http://www.coppeliarobotics.com/files/CoppeliaSim_Edu_V4_1_0_Ubuntu20_04.tar.xz
+          wget https://downloads.coppeliarobotics.com/V4_1_0/CoppeliaSim_Edu_V4_1_0_Ubuntu20_04.tar.xz
           tar -xf CoppeliaSim_Edu_V4_1_0_Ubuntu20_04.tar.xz
           export COPPELIASIM_ROOT="$cur/CoppeliaSim_Edu_V4_1_0_Ubuntu20_04"
           echo $COPPELIASIM_ROOT

diff --git a/pyrep/robots/configuration_paths/arm_configuration_path.py b/pyrep/robots/configuration_paths/arm_configuration_path.py
@@ -167,7 +167,8 @@ def _step_motion(self) -> int:
         if state >= 0:
             pos = posVelAccel[0]
             for i in range(len(lengths) - 1):
-                if lengths[i] <= pos <= lengths[i + 1]:
+                # Always execute the last point as pos might overshoot
+                if lengths[i] <= pos <= lengths[i + 1] or i == len(lengths) - 2:
                     t = (pos - lengths[i]) / (lengths[i + 1] - lengths[i])
                     # For each joint
                     offset = len(self._arm.joints) * i