timschneider42 / franky Goto Github PK

Hello,

We have been trying to use franky with impedance control using CartesianImpedenceMotion but haven't gotten it to work. There is no error when running the code. Below is the code we tried. Any idea what is wrong (maybe we are setting the translational_stiffness correctly)?

from franky import Affine, CartesianMotion, CartesianImpedanceMotion, Robot, ReferenceType, CartesianPoseStopMotion
import time

robot = Robot("172.16.0.2")
robot.recover_from_errors()
robot.relative_dynamics_factor = 0.2

motion = CartesianImpedanceMotion(Affine([0.103205, -0.554416, 0.399998], [0.768303, -0.637665, 0.0449731, 0.0327324]), 100, translational_stiffness=10)

robot.move(motion, asynchronous=True)
time.sleep(30)

This is an awesome fork! Thanks for sharing it. I was wondering if you've had problems with the cartesian control. Specifically, we randomly get joint acceleration and velocity discontinuity errors when using frankx. Has that been your experience too? Do you use a realtime kernel for this?

Thanks again for the great work.

First of all, thank you for keeping the library alive through this fork!

I noticed that the kinematics example uses a vector() method on the Affine type:

q_new = Kinematics.inverse(x_new.vector(), q, null_space)

But when I try to run this example, I get the following error:

AttributeError: 'franky._franky.Affine' object has no attribute 'vector'

It appears that the reason for this is that the Affine type is now a type alias to Eigen and thus no longer uses the affx library where this method is defined.

Should it still be possible to run this example, am I doing something wrong?

Note that I'm using franky-panda 0.4.4 because I'm currently using a Panda instead of an FR3, but it seems to me that the situation for the latest version is the same.