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flexivrobotics / flexiv_rdk

RDK (Robotic Development Kit) for Flexiv robots. Supports C++ and Python. Compatible with Linux, macOS, and Windows.
https://www.flexiv.com/software/rdk
Apache License 2.0
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[BUG] Repeatably attempting to connect to a Rizon 10 by creating a flexivrdk.Robot while the controler is still bootin causes the controller to never boot. #75

Closed skyrimax closed 3 months ago

skyrimax commented 3 months ago

Version information

Describe the bug Repeatably attempting to connect to a Rizon 10 by creating a flexivrdk.Robot while the controler is still bootin causes the controller to never boot. We waited well over 10 minutes.

Steps to reproduce Here is simple python script that should allow you to reproduce the issue

import flexivrdk

robot_ip_addr = 'ENTER YOUR ROBOT IP HERE'
local_ip_addr = 'ENTER YOUR LOCAL IP HERE

while True:
    try:
        robot = flexivrdk.Robot(robot_ip_addr, local_ip_addr)
        logger.info('Connected to Barry robot')
        break
    except Exception as e:
        logger.warning(f'Caught {type(e)} while attempting to connect to Barry robot: {e}, retrying in 5s')
        await asyncio.sleep(5)
        continue
  1. Unplug/switch off the controller
  2. Start the above pyhton script
  3. Plug/switch on the controller
  4. Wait
  5. The controller never completelly boots and the connection is never established

Expected behavior We would expect the controller the controller to boot normally and the RDK to connect once the controller is ready

Additional context We don't think this has an influence, but out script runs in a docker container with the priviledged flag enabled.

dajun-flexiv commented 3 months ago

Hi,

This behavior was later fixed in RDK v1.4. I have just tested it on v1.4 and it was working. Unfortunately, v1.4 is not compatible with the currently released robot firmware v2.11.5. I will keep you updated on future robot firmware releases. Sorry for the inconvenience.

If you would be so kind, can you change the title of the issue to be more descriptive, so other users can also learn from this problem? Thank you so much!

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