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TimSchneider42 / franky

High-Level Motion Library for Collaborative Robots
https://timschneider42.github.io/franky/
GNU Lesser General Public License v3.0
34 stars 9 forks source link

Change to guiding mode #17

Open weristeddy opened 3 weeks ago

weristeddy commented 3 weeks ago

Hello, I am wondering why i am not able to change the RobotMode? I tried using the set_guiding_mode() function from the Robot class but my RobotMode after checking was still in Idle. Same also for the stop() function.

weristeddy commented 3 weeks ago

maybe good to know: i am using the Franka Emika Robot with libfranka 0.8.0

TimSchneider42 commented 3 weeks ago

Did you press and hold the two buttons on the robots gripper?

weristeddy commented 3 weeks ago

yes, then a kind of purple light appears and it says "Multiple conflicting safe inputs" in the Franka Desk. Guiding mode some how only works if i press the black stop button before and then press the buttons for driving mode

TimSchneider42 commented 3 weeks ago

Maybe you have to press the button to move it? I think the set_guiding_mode function only sets which dimensions can be guided in guiding mode.

weristeddy commented 3 weeks ago

okay, so there is no way to change the RobotMode from 'Idle' to either 'UserStopped' or 'Guiding' using only code? Are these modes only accessible when pressing manually the stop and gripper buttons?

TimSchneider42 commented 3 weeks ago

To be honest, I am not a 100% sure how it works. I remember playing around with the function once and being able to lock rotation but not translation. I think I still had to press the stop button. Maybe it is best to ask in the Franka forum.

weristeddy commented 3 weeks ago

alright, thank you for your help :) Do you maybe know what the robot.stop() function does? Is it just stopping current robot motions but not changing the RobotState to Userstopped? Instead from moving to Idle?