Open chaitanyantr opened 3 months ago
Hi,
Which robot are you using?
I noticed this behavior, too, with our Franka Panda in joint position control mode. What seemed strange to me was that even when I commanded the current joint position RobotState.q
as a target, these noises were audible. However, I did not really have time to look into this issue much further.
If you would like to investigate this issue further, I suggest doing two things:
Motion.register_callback
as such before executing the motion:
traj = []
def cb(robot_state: franky.RobotState, time_step: float, rel_time: float, abs_time: float, control_signal: franky.ControlSignal):
# Time, current pos, desired pos, current vel, desired vel, desired acc, next commanded pos
traj.append((abs_time, robot_state.q, robot_state.dq, robot_state.dq, robot_state.dq_d, robot_state.ddq_d, control_signal.q))
m1.register_callback(cb) robot.move(m1)
I am happy to help if you need any assistance with this.
Best,
Tim
Issue: The franka emika robot doing jerky sounds.
when the robot is moving from one waypoint to other way point. Observations:- 5 different robots in my lab do same sounds.(probably not a hardware issue) what code?:- The default code of moving from m1 to m2. What language:- python sample code
Whole code.