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rail-berkeley / serl_franka_controllers

Cartesian impedance controller with reference limiting for Franka Emika Robot
MIT License
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Random Intense Movement Right After Launching the Impedance Controller #9

Open c-yiting opened 1 week ago

c-yiting commented 1 week ago

Hi, thanks a lot for this repository!

system environment:

  1. ROS Noetic
  2. franka-ros 0.10.1 and libfranka 0.9.2

Lightweight customed fingers are mounted to replace the original fingers on the panda gripper.

After I run the suggested command to launch the impedance controller: roslaunch serl_franka_controllers impedance.launch robot_ip:=<RobotIP> load_gripper:=true Without any further input, the robot moves randomly and intensely right after Started controllers: cartesian_impedance_controller with the following error: [ERROR]: libfranka: Move command aborted: motion aborted by reflex! ["power_limit_violation"] control_command_success_rate: 1

Then the robot is running in high-stiffness.

Any ideas on solving this issue? Thanks!

jianlanluo commented 2 days ago

Hi, you mentioned your new finger is lightweight, so perhaps you need to recalibrate your payload on franka server