I’ve just finished making some tests on Pypot to make Poppy smooth, and here are my findings :
Added to the time problem @theo talked about, I think that there is a real problem with the XU4 with calculation time.
In my program, I use a primitive that is executed very quickly several times, and in which a goto_position is called for all the motors that must move.
- When I use minjerk mode (long calculation time), the moves are not smooth at all.
- When I use Dummy mode (short calculation time), the moves are smooth.
In the second case, it’s smooth, even if a lot of primitives are executed, so I think that the calculating time does really matter in the XU4 problem.
Moreover, I talked with @Thot, and he had the same problem : I suspect that in Fire, his position/trajectory calculations are too heavy and takes too much time for the syncloop in the XU4, but are okay in the RPi.
So I think that it’s important to take into consideration the calculation time when doing program with XU4.