fix wrong copy-paste + missing word and typo in comment

kortex_examples/src/full_arm/example_full_arm_movement.cpp

@@ -215,8 +215,7 @@ bool example_send_joint_angles(ros::NodeHandle n, const std::string &robot_name,
   }
 
   // Each AngularWaypoint needs a duration and the global duration (from WaypointList) is disregarded. 
-  // If you put 0 to the global duration, the trajectory will be optimal.
-  // If you somehting too small (for either global duration or AngularWaypoint duration), the trajectory will be rejected.
+  // If you put something too small (for either global duration or AngularWaypoint duration), the trajectory will be rejected.
   int angular_duration = 0;
   angularWaypoint.duration = angular_duration;
 
@@ -316,11 +315,7 @@ bool example_cartesian_waypoint(ros::NodeHandle n, const std::string &robot_name
 
   last_action_notification_event = 0;
 
-  if (service_client_execute_waypoints_trajectory.call(service_execute_waypoints_trajectory))
-  {
-    ROS_INFO("The WaypointList command was sent to the robot.");
-  }
-  else
+  if (!service_client_get_config.call(service_get_config))
   {
     std::string error_string = "Failed to call GetProductConfiguration";
     ROS_ERROR("%s", error_string.c_str());
@@ -350,7 +345,11 @@ bool example_cartesian_waypoint(ros::NodeHandle n, const std::string &robot_name
   service_execute_waypoints_trajectory.request.input.duration = 0;
   service_execute_waypoints_trajectory.request.input.use_optimal_blending = 0;
 
-  if (!service_client_execute_waypoints_trajectory.call(service_execute_waypoints_trajectory))
+  if (service_client_execute_waypoints_trajectory.call(service_execute_waypoints_trajectory))
+  {
+    ROS_INFO("The WaypointList command was sent to the robot.");
+  }
+  else
   {
     std::string error_string = "Failed to call ExecuteWaypointTrajectory";
     ROS_ERROR("%s", error_string.c_str());

kortex_examples/src/full_arm/example_full_arm_movement.py

@@ -224,8 +224,7 @@ def example_send_joint_angles(self):
             angularWaypoint.angles.append(0.0)
 
         # Each AngularWaypoint needs a duration and the global duration (from WaypointList) is disregarded. 
-        # If you put 0 to the global duration, the trajectory will be optimal.
-        # If you somehting too small (for either global duration or AngularWaypoint duration), the trajectory will be rejected.
+        # If you put something too small (for either global duration or AngularWaypoint duration), the trajectory will be rejected.
         angular_duration = 0
         angularWaypoint.duration = angular_duration