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frankaemika / libfranka

C++ library for Franka research robots
https://frankaemika.github.io
Apache License 2.0
221 stars 147 forks source link

Tcp error while gripper is removed #138

Closed yetian0 closed 11 months ago

yetian0 commented 11 months ago

Hi, I found O_T_EE is wrong when the gripper of Franka is removed and mount another tool at the end of Franka with no wire connected. O_T_EE is the position of Franka with gripper which is not ture at all, isn't it should be the position of Franka without gripper? Actually, if I don't mout anything at the end of Franka, O_T_EE is right. Another strange thing is the pose of O_T_EE, oneday it suddenly rotate 45 degrees in expression. I really want to know what happened? Is there anyone could help with this? Thank you so much.

yetian0 commented 11 months ago

I am sorry for disturbing, this is a matter about the misuse of set_EE. In case someone may encount this like me, I would like to not delete this topic.