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frankaemika / libfranka

C++ library for Franka research robots
https://frankaemika.github.io
Apache License 2.0
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libfranka: Move command aborted: motion aborted by reflex! ["cartesian_motion_generator_joint_acceleration_discontinuity"] #78

Closed Africaggy closed 3 years ago

Africaggy commented 4 years ago

when I have download libfranka,I use "cmake.."and"make"in libfranka/example. Then I got some executable files, I run some files perfect.But I run "generate_cartesian_pose_motion"wrong,apppeared the above probelm. Have anyone this problem?Or have anyone can solve problem and have a new pose_motion

Africaggy commented 4 years ago

I have solved it.Thanks guys

michtesar commented 3 years ago

Hey @Africaggy how did you solved it? This is what I get when I send joints states. After some I get the same error:

libfranka: Move command aborted: motion aborted by reflex! ["cartesian_motion_generator_joint_acceleration_discontinuity"]
whyy812 commented 3 years ago

Hey, @Africaggy We are struggling with the similar issues, too. Now that you have solved the similar issues, could you please share the solutions ? Best regards.

Africaggy commented 3 years ago

I think you can smooth its motion。But you need use Quintic spline fitting

发自我的iPhone

------------------ Original ------------------ From: whyy @.> Date: Mon,Jul 5,2021 9:15 PM To: frankaemika/libfranka @.> Cc: Africaggy @.>, Mention @.> Subject: Re: [frankaemika/libfranka] libfranka: Move command aborted: motion aborted by reflex! ["cartesian_motion_generator_joint_acceleration_discontinuity"] (#78)

Hey, @Africaggy We are struggling with the similar issues, too. Now that you have solved the similar issues, could you please share the solutions ? Best regards.

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whyy812 commented 3 years ago

I will try. Thank you @Africaggy.

Africaggy commented 3 years ago

You are welcome

发自我的iPhone

------------------ Original ------------------ From: whyy @.> Date: Mon,Jul 5,2021 10:13 PM To: frankaemika/libfranka @.> Cc: Africaggy @.>, Mention @.> Subject: Re: [frankaemika/libfranka] libfranka: Move command aborted: motion aborted by reflex! ["cartesian_motion_generator_joint_acceleration_discontinuity"] (#78)

I will try. Thank you @Africaggy.

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QAbot-zh commented 1 year ago

Hello, I want to know if there is an instruction or function to recover the movable state by code way when the robot is in the reflex state. Anyone can help? Thanks.

marcbone commented 1 year ago

You can use the automaticErrorRecovery method for that

QAbot-zh commented 1 year ago

Thank you, it helps!