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NiryoRobotics / pyniryo

https://niryo.com/
GNU General Public License v3.0
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Impossible to call clear_collision_detected() #6

Open thisisafakegit opened 1 year ago

thisisafakegit commented 1 year ago

Hello. I'm using a NIRYO Ned 2 Arm with a camera and a grasper.

After some time using the robot with the python API I receive the following error:

{
    "command": "MOVE_POSE",
    "list_ret_param": [],
    "message": "An error occured while executing the last command : clear_collision_detected() must be called before attempting a new move command",
    "status": "KO"
}

The line that triggered this is the robot.move_to_home_pose() function. Unfortunately, the only way I found to retake command of the arm is to reboot it. I would like to know if there is any other way since the function clear_collision_detected() does not exist on this API.

Cheers

ralfgerlich commented 1 year ago

I came across the same issue today. It seems that the tcp_server does not support calling this function, so there is no way to do this from pyniryo, currently. I would second the request for adding that. However, given that Niryo seems to be working on pyniryo2, I do not see much of a chance of this happening.

jmottier-niryo commented 3 months ago

Hello, this is a known issue and it will be fixed in the next release