Robot Move To Position

Use scripts/move_joints_to_targets.py to move one or more joints to requested targets with feedback control.

Quick Commands

Single joint:

source /home/lorenzo/ros2_ws/install/setup.bash
python3 /home/lorenzo/.codex/skills/robot-move-to-position/scripts/move_joints_to_targets.py \
  --target J_BOOM=-0.72 \
  --max-vel 0.35 --tol 0.02 --timeout-sec 90

Multiple joints:

source /home/lorenzo/ros2_ws/install/setup.bash
python3 /home/lorenzo/.codex/skills/robot-move-to-position/scripts/move_joints_to_targets.py \
  --target J_BOOM=-0.72 \
  --target J_STICK=1.65 \
  --target J_TELE=0.10 \
  --max-vel 0.30 --tol 0.02 --timeout-sec 120

Continuous-joint note (`J_TURN`):

- The script now wraps position error to the nearest `2*pi` equivalent for joints in `--wrap-joints` (default includes `J_TURN`).
- This prevents long unnecessary spins when commanding `J_TURN=0.0` from large wrapped angles.
- Override with `--wrap-joints ""` to disable.

Operating Rules

• Confirm machine is unlocked before motion (is_hydraulilock_unlocked, is_autonomous_operation_unlocked, is_using_gravis_commands).
• Keep targets inside known joint limits.
• Use conservative --max-vel near boundaries.
• Let the script finish; it automatically publishes zero commands at exit.
• Abort anytime with Ctrl+C; script still sends zero commands.