Closed sammorstein closed 3 months ago
Hi @sammorstein ,
It seems your robot may be returning the ACTION_END flag after the home position too quickly (either that or the message is sent on time but the change in the internal robot state is delayed). Based on your code, I cannot suggest a reason why that would be the case for now, but we could validate this hypothesis by restoring the sleep in your main. If you do, does the problem still occur? Are you running anything in parallel on the robot (e.g. the web app or a separate thread)?
The sleep in main doesn't help. When I include it, the arm will stay in the home position for the sleep time before moving into the angular movement immediately. I've tried running it with and without the web app open. I see this message in the web app when the code is run. Any ideas why that could be?
Ok I figured out the issue we had a protection zone that overlapped with the home position active. Once I turned it off the code would run correctly
Description
I tried to run the example file 01-move_angular_and_cartesian.py. When I run it, the arm will move to the home position and then move on to the angular movement. It looks like when the code tries to run the example cartesian movement, an ACTION_ABORT event is triggered and I don't know what could cause it.
Version
KortexAPI : 2.6.0
Kortex Device : Kinova Gen 3 7 DOF Arm
Steps to reproduce
Code example
Expected behavior
This is the terminal output: Logging as admin on device 192.168.1.10 Moving the arm to a safe position EVENT : ACTION_START EVENT : ACTION_END Safe position reached Starting Cartesian action movement ... Executing action Waiting for movement to finish ... EVENT : ACTION_START EVENT : ACTION_ABORT EVENT : ACTION_FEEDBACK Cartesian movement completed Starting angular action movement ... Executing action Waiting for movement to finish ... EVENT : ACTION_START EVENT : ACTION_END Angular movement completed
Any other information