Robot doesn't move when running the example scripts

[SilvesterYu]

I tried running several example scripts but the robot doesn't move.

However, when I run the commane ./auto_scripts/auto_gripper.sh config/charmander.yml, the gripper can close and open.

After running examples/position_only_movement.py , I got the following log files:: debug.log

[Deoxys WARNING] 2024-01-08 21:35:30,801 - This is a beta script
[Deoxys ERROR] 2024-01-08 21:36:06,820 - NO errors. Just need to test error message

error.log

[Deoxys ERROR] 2024-01-08 21:36:06,820 - NO errors. Just need to test error message
[Deoxys ERROR] 2024-01-08 21:36:06,820 - NO errors. Just need to test error message

Output in terminal:

[Deoxys Examples WARNING] This is a beta script (Ln 28)
OSC_POSITION
OSC_POSITION
OSC_POSITION
OSC_POSITION
OSC_POSITION
OSC_POSITION
OSC_POSITION
[Deoxys Examples ERROR] NO errors. Just need to test error message (Ln 51)

After running examples/reset_robot_joints.py, I got the following: debug.log

[Deoxys INFO] 2024-01-08 21:40:31,876 - Current Robot joint: [-2.299  0.54   2.288 -2.452 -0.426  2.059  0.921]
[Deoxys INFO] 2024-01-08 21:40:31,877 - Desired Robot joint: [-2.299  0.54   2.288 -2.452 -0.426  2.059  0.921]
[Deoxys INFO] 2024-01-08 21:40:31,878 - Current Robot joint: [-2.299  0.54   2.288 -2.452 -0.426  2.059  0.921]
[Deoxys INFO] 2024-01-08 21:40:31,879 - Desired Robot joint: [-2.299  0.54   2.288 -2.452 -0.426  2.059  0.921]
[Deoxys INFO] 2024-01-08 21:40:31,928 - Current Robot joint: [-2.299  0.54   2.288 -2.452 -0.426  2.059  0.921]
[Deoxys INFO] 2024-01-08 21:40:31,929 - Desired Robot joint: [-2.299  0.54   2.288 -2.452 -0.426  2.059  0.921]
[Deoxys INFO] 2024-01-08 21:40:31,978 - Current Robot joint: [-2.299  0.54   2.288 -2.452 -0.426  2.059  0.921]
[Deoxys INFO] 2024-01-08 21:40:31,979 - Desired Robot joint: [-2.299  0.54   2.288 -2.452 -0.426  2.059  0.921]
[Deoxys INFO] 2024-01-08 21:40:32,029 - Current Robot joint: [-2.299  0.54   2.288 -2.452 -0.426  2.059  0.921]
[Deoxys INFO] 2024-01-08 21:40:32,030 - Desired Robot joint: [-2.299  0.54   2.288 -2.452 -0.426  2.059  0.921]
[Deoxys INFO] 2024-01-08 21:40:32,078 - Current Robot joint: [-2.299  0.54   2.288 -2.452 -0.426  2.059  0.921]
[Deoxys INFO] 2024-01-08 21:40:32,079 - Desired Robot joint: [-2.299  0.54   2.288 -2.452 -0.426  2.059  0.921]
.....

Output in terminal:

pybullet build time: Nov 28 2023 23:51:11
[Deoxys Examples INFO] Current Robot joint: [-2.299  0.54   2.288 -2.452 -0.426  2.059  0.921] (Ln 83)
[Deoxys Examples INFO] Desired Robot joint: [-2.299  0.54   2.288 -2.452 -0.426  2.059  0.921] (Ln 84)
[Deoxys Examples INFO] Current Robot joint: [-2.299  0.54   2.288 -2.452 -0.426  2.059  0.921] (Ln 83)
[Deoxys Examples INFO] Desired Robot joint: [-2.299  0.54   2.288 -2.452 -0.426  2.059  0.921] (Ln 84)
[Deoxys Examples INFO] Current Robot joint: [-2.299  0.54   2.288 -2.452 -0.426  2.059  0.921] (Ln 83)
[Deoxys Examples INFO] Desired Robot joint: [-2.299  0.54   2.288 -2.452 -0.426  2.059  0.921] (Ln 84)
[Deoxys Examples INFO] Current Robot joint: [-2.299  0.54   2.288 -2.452 -0.426  2.059  0.921] (Ln 83)
[Deoxys Examples INFO] Desired Robot joint: [-2.299  0.54   2.288 -2.452 -0.426  2.059  0.921] (Ln 84)
...

Which goes on forever.

Doesn't seem like the desired position successfully went to the robot. Do you have any insights on what the issue was? Many thanks!

[ywang-bdai]

This happens to me as well. I dived into the RUC side, and it seems that the franka_interface will always break at [info - arm_logger] Joint position callback. I do not fully understand why this happened

[zhuyifengzju]

Do you have a full error log? Does this happen to all scripts? (For example, does reset joint script work?)

[loli11111q]

i have the same error too,do someone have sovled it?

[loli11111q]

this is log file [2024-05-2[2024-05-29 14:48:14.905] [arm_logger] [info] State Publisher: 100Hz, Policy: 20Hz, Traj Interpolation 500Hz, ZMQ noblock receving true [2024-05-29 14:48:14.906] [arm_logger] [info] Deoxys starting [2024-05-29 14:48:14.956] [arm_logger] [debug] Counter 0 [2024-05-29 14:48:15.006] [arm_logger] [debug] Counter 0 [2024-05-29 14:48:15.056] [arm_logger] [debug] Counter 0 [2024-05-29 14:48:15.106] [arm_logger] [debug] Counter 0 [2024-05-29 14:48:15.156] [arm_logger] [debug] Counter 0 [2024-05-29 14:48:15.207] [arm_logger] [debug] Counter 0 [2024-05-29 14:48:15.257] [arm_logger] [debug] Counter 0 [2024-05-29 14:48:15.307] [arm_logger] [debug] Counter 0 [2024-05-29 14:48:15.357] [arm_logger] [debug] Counter 0 [2024-05-29 14:48:15.407] [arm_logger] [debug] Counter 0 [2024-05-29 14:48:15.457] [arm_logger] [debug] Counter 0 [2024-05-29 14:48:15.508] [arm_logger] [debug] Counter 0 [2024-05-29 14:48:15.558] [arm_logger] [debug] Counter 0 [2024-05-29 14:48:15.608] [arm_logger] [debug] Counter 0 [2024-05-29 14:48:15.658] [arm_logger] [debug] Counter 0 [2024-05-29 14:48:15.708] [arm_logger] [debug] Counter 0 [2024-05-29 14:48:15.758] [arm_logger] [debug] Counter 0 [2024-05-29 14:48:15.808] [arm_logger] [debug] Counter 0 [2024-05-29 14:48:15.858] [arm_logger] [debug] Counter 0 [2024-05-29 14:48:15.909] [arm_logger] [debug] Counter 0 [2024-05-29 14:48:15.959] [arm_logger] [debug] Counter 0 [2024-05-29 14:48:16.009] [arm_logger] [debug] Counter 0 [2024-05-29 14:48:16.060] [arm_logger] [debug] Counter 0 [2024-05-29 14:48:16.110] [arm_logger] [debug] Counter 0 [2024-05-29 14:48:16.160] [arm_logger] [debug] Counter 0 [2024-05-29 14:48:16.210] [arm_logger] [debug] Counter 0 [2024-05-29 14:48:16.260] [arm_logger] [debug] Counter 0 [2024-05-29 14:48:16.311] [arm_logger] [debug] Counter 0 [2024-05-29 14:48:16.361] [arm_logger] [debug] Counter 0 [2024-05-29 14:48:16.411] [arm_logger] [debug] Counter 0 [2024-05-29 14:48:16.461] [arm_logger] [debug] Counter 0 [2024-05-29 14:48:16.512] [arm_logger] [debug] Counter 0 [2024-05-29 14:48:16.562] [arm_logger] [debug] Counter 0 [2024-05-29 14:48:16.612] [arm_logger] [debug] Counter 0 [2024-05-29 14:48:16.662] [arm_logger] [debug] Counter 0 [2024-05-29 14:48:16.712] [arm_logger] [debug] Counter 0 [2024-05-29 14:48:16.763] [arm_logger] [debug] Counter 0 [2024-05-29 14:48:16.813] [arm_logger] [debug] Counter 0 [2024-05-29 14:48:16.863] [arm_logger] [debug] Counter 0 [2024-05-29 14:48:16.913] [arm_logger] [debug] Counter 0 [2024-05-29 14:48:16.963] [arm_logger] [debug] Counter 0 [2024-05-29 14:48:17.013] [arm_logger] [debug] Counter 0 [2024-05-29 14:48:17.064] [arm_logger] [debug] Counter 0 [2024-05-29 14:48:17.114] [arm_logger] [debug] Counter 0 [2024-05-29 14:48:17.164] [arm_logger] [debug] Counter 0 [2024-05-29 14:48:17.214] [arm_logger] [debug] Counter 0 [2024-05-29 14:48:17.264] [arm_logger] [debug] Counter 0 [2024-05-29 14:48:17.315] [arm_logger] [debug] Counter 0 [2024-05-29 14:48:17.365] [arm_logger] [debug] Counter 0 [2024-05-29 14:48:17.415] [arm_logger] [debug] Counter 0 [2024-05-29 14:48:17.465] [arm_logger] [debug] Counter 0 [2024-05-29 14:48:17.516] [arm_logger] [debug] No traj interpolator is specified [2024-05-29 14:48:17.516] [arm_logger] [debug] No state estimator is specified [2024-05-29 14:48:17.566] [arm_logger] [debug] No traj interpolator is specified [2024-05-29 14:48:17.566] [arm_logger] [debug] No state estimator is specified [2024-05-29 14:48:17.616] [arm_logger] [debug] No traj interpolator is specified [2024-05-29 14:48:17.616] [arm_logger] [debug] No state estimator is specified [2024-05-29 14:48:17.666] [arm_logger] [debug] No traj interpolator is specified [2024-05-29 14:48:17.666] [arm_logger] [debug] No state estimator is specified [2024-05-29 14:48:17.716] [arm_logger] [debug] No traj interpolator is specified [2024-05-29 14:48:17.716] [arm_logger] [debug] No state estimator is specified [2024-05-29 14:48:17.766] [arm_logger] [debug] No traj interpolator is specified [2024-05-29 14:48:17.766] [armlogger] [debug] No state estimator is specified [2024-05-29 14:48:17.817] [arm