Replaying A Collected Robot Trajectory

[rsathua]

Hi,

Firstly, thank you for all of your work with this project!

I am currently attempting to replay a collected trajectory as a paranoid check of the trajectory's validity. However, when I try to do so using the droid/tests/replay_trajectory.py script, I receive a very jerky motion from the robot. Additionally, the robot takes a long time (~1-2s) between each movement and stops without finishing the trajectory. When I print the trajectory I can see all the action values but this is not reflected by the robot in the real world. Is this expected with this script?

[AlexanderKhazatsky]

Hmm, could you send a video? This behavior is definitely unexpected. Could you also share if possible the output of the polymetis server on the NUC side? My guess is that there are communication issues.