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pantor / frankx

High-Level Motion Library for Collaborative Robots
https://pantor.github.io/frankx/
GNU Lesser General Public License v3.0
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libfranka aborted due to discontinuities #14

Closed mwulmer closed 3 years ago

mwulmer commented 3 years ago

Hey everyone,

I was trying to run the examples that use the cartesian motion generator (e.g. linear.py, path.py) and I get exceptions thrown by libfranka. I am currently using the default frankx installation without Reflexxes. The errors that I get are mostly related to the jerk (cartesian_motion_generator_joint_acceleration_discontinuity) and acceleration (cartesian_motion_generator_joint_velocity_discontinuity). I assumed, since you can set them to a percentage of the maximum, that the limits can't be violated. Do you tune your constraints in a specific way or do you have another solution for that?

Best regards Max

rubenjuerges commented 3 years ago

@mwulmer Did you find a solution to these issues? We are struggling with similar problems when using the python async_target example. For us, specifying robot.set_dynamic_rel(0.3) and adding waypoints abruptly causes this exact effect.

whyy812 commented 3 years ago

We are struggling with the similar issues,too. Could you please share the solutions if you have already solved the similar issues?

mwulmer commented 3 years ago

Hi, I did not manage to solve the problem with the position controlled motions. I think that the Panda robots work well when torque controlled but are brittle when controlling them through another interface.