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Robot doesn't move when running the example scripts #20

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SilvesterYu opened this issue Jan 9, 2024 · 9 comments
Open

Robot doesn't move when running the example scripts #20

SilvesterYu opened this issue Jan 9, 2024 · 9 comments

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@SilvesterYu
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SilvesterYu commented Jan 9, 2024 •
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I tried running several example scripts but the robot doesn't move.

However, when I run the commane ./auto_scripts/auto_gripper.sh config/charmander.yml, the gripper can close and open.

After running examples/position_only_movement.py , I got the following log files::
debug.log

[Deoxys WARNING] 2024-01-08 21:35:30,801 - This is a beta script
[Deoxys ERROR] 2024-01-08 21:36:06,820 - NO errors. Just need to test error message

error.log

[Deoxys ERROR] 2024-01-08 21:36:06,820 - NO errors. Just need to test error message
[Deoxys ERROR] 2024-01-08 21:36:06,820 - NO errors. Just need to test error message

Output in terminal:

[Deoxys Examples WARNING] This is a beta script (Ln 28)
OSC_POSITION
OSC_POSITION
OSC_POSITION
OSC_POSITION
OSC_POSITION
OSC_POSITION
OSC_POSITION
[Deoxys Examples ERROR] NO errors. Just need to test error message (Ln 51)

After running examples/reset_robot_joints.py, I got the following:
debug.log

[Deoxys INFO] 2024-01-08 21:40:31,876 - Current Robot joint: [-2.299  0.54   2.288 -2.452 -0.426  2.059  0.921]
[Deoxys INFO] 2024-01-08 21:40:31,877 - Desired Robot joint: [-2.299  0.54   2.288 -2.452 -0.426  2.059  0.921]
[Deoxys INFO] 2024-01-08 21:40:31,878 - Current Robot joint: [-2.299  0.54   2.288 -2.452 -0.426  2.059  0.921]
[Deoxys INFO] 2024-01-08 21:40:31,879 - Desired Robot joint: [-2.299  0.54   2.288 -2.452 -0.426  2.059  0.921]
[Deoxys INFO] 2024-01-08 21:40:31,928 - Current Robot joint: [-2.299  0.54   2.288 -2.452 -0.426  2.059  0.921]
[Deoxys INFO] 2024-01-08 21:40:31,929 - Desired Robot joint: [-2.299  0.54   2.288 -2.452 -0.426  2.059  0.921]
[Deoxys INFO] 2024-01-08 21:40:31,978 - Current Robot joint: [-2.299  0.54   2.288 -2.452 -0.426  2.059  0.921]
[Deoxys INFO] 2024-01-08 21:40:31,979 - Desired Robot joint: [-2.299  0.54   2.288 -2.452 -0.426  2.059  0.921]
[Deoxys INFO] 2024-01-08 21:40:32,029 - Current Robot joint: [-2.299  0.54   2.288 -2.452 -0.426  2.059  0.921]
[Deoxys INFO] 2024-01-08 21:40:32,030 - Desired Robot joint: [-2.299  0.54   2.288 -2.452 -0.426  2.059  0.921]
[Deoxys INFO] 2024-01-08 21:40:32,078 - Current Robot joint: [-2.299  0.54   2.288 -2.452 -0.426  2.059  0.921]
[Deoxys INFO] 2024-01-08 21:40:32,079 - Desired Robot joint: [-2.299  0.54   2.288 -2.452 -0.426  2.059  0.921]
.....

Output in terminal:

pybullet build time: Nov 28 2023 23:51:11
[Deoxys Examples INFO] Current Robot joint: [-2.299  0.54   2.288 -2.452 -0.426  2.059  0.921] (Ln 83)
[Deoxys Examples INFO] Desired Robot joint: [-2.299  0.54   2.288 -2.452 -0.426  2.059  0.921] (Ln 84)
[Deoxys Examples INFO] Current Robot joint: [-2.299  0.54   2.288 -2.452 -0.426  2.059  0.921] (Ln 83)
[Deoxys Examples INFO] Desired Robot joint: [-2.299  0.54   2.288 -2.452 -0.426  2.059  0.921] (Ln 84)
[Deoxys Examples INFO] Current Robot joint: [-2.299  0.54   2.288 -2.452 -0.426  2.059  0.921] (Ln 83)
[Deoxys Examples INFO] Desired Robot joint: [-2.299  0.54   2.288 -2.452 -0.426  2.059  0.921] (Ln 84)
[Deoxys Examples INFO] Current Robot joint: [-2.299  0.54   2.288 -2.452 -0.426  2.059  0.921] (Ln 83)
[Deoxys Examples INFO] Desired Robot joint: [-2.299  0.54   2.288 -2.452 -0.426  2.059  0.921] (Ln 84)
...

Which goes on forever.

Doesn't seem like the desired position successfully went to the robot. Do you have any insights on what the issue was? Many thanks!
@ywang-bdai
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This happens to me as well. I dived into the RUC side, and it seems that the franka_interface will always break at [info - arm_logger] Joint position callback. I do not fully understand why this happened

@zhuyifengzju
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Do you have a full error log? Does this happen to all scripts? (For example, does reset joint script work?)

@Ynao3
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Ynao3 commented May 29, 2024

i have the same error too,do someone have sovled it?

@Ynao3
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Ynao3 commented May 29, 2024

this is log file
[2024-05-2[2024-05-29 14:48:14.905] [arm_logger] [info] State Publisher: 100Hz, Policy: 20Hz, Traj Interpolation 500Hz, ZMQ noblock receving true
[2024-05-29 14:48:14.906] [arm_logger] [info] Deoxys starting
[2024-05-29 14:48:14.956] [arm_logger] [debug] Counter 0
[2024-05-29 14:48:15.006] [arm_logger] [debug] Counter 0
[2024-05-29 14:48:15.056] [arm_logger] [debug] Counter 0
[2024-05-29 14:48:15.106] [arm_logger] [debug] Counter 0
[2024-05-29 14:48:15.156] [arm_logger] [debug] Counter 0
[2024-05-29 14:48:15.207] [arm_logger] [debug] Counter 0
[2024-05-29 14:48:15.257] [arm_logger] [debug] Counter 0
[2024-05-29 14:48:15.307] [arm_logger] [debug] Counter 0
[2024-05-29 14:48:15.357] [arm_logger] [debug] Counter 0
[2024-05-29 14:48:15.407] [arm_logger] [debug] Counter 0
[2024-05-29 14:48:15.457] [arm_logger] [debug] Counter 0
[2024-05-29 14:48:15.508] [arm_logger] [debug] Counter 0
[2024-05-29 14:48:15.558] [arm_logger] [debug] Counter 0
[2024-05-29 14:48:15.608] [arm_logger] [debug] Counter 0
[2024-05-29 14:48:15.658] [arm_logger] [debug] Counter 0
[2024-05-29 14:48:15.708] [arm_logger] [debug] Counter 0
[2024-05-29 14:48:15.758] [arm_logger] [debug] Counter 0
[2024-05-29 14:48:15.808] [arm_logger] [debug] Counter 0
[2024-05-29 14:48:15.858] [arm_logger] [debug] Counter 0
[2024-05-29 14:48:15.909] [arm_logger] [debug] Counter 0
[2024-05-29 14:48:15.959] [arm_logger] [debug] Counter 0
[2024-05-29 14:48:16.009] [arm_logger] [debug] Counter 0
[2024-05-29 14:48:16.060] [arm_logger] [debug] Counter 0
[2024-05-29 14:48:16.110] [arm_logger] [debug] Counter 0
[2024-05-29 14:48:16.160] [arm_logger] [debug] Counter 0
[2024-05-29 14:48:16.210] [arm_logger] [debug] Counter 0
[2024-05-29 14:48:16.260] [arm_logger] [debug] Counter 0
[2024-05-29 14:48:16.311] [arm_logger] [debug] Counter 0
[2024-05-29 14:48:16.361] [arm_logger] [debug] Counter 0
[2024-05-29 14:48:16.411] [arm_logger] [debug] Counter 0
[2024-05-29 14:48:16.461] [arm_logger] [debug] Counter 0
[2024-05-29 14:48:16.512] [arm_logger] [debug] Counter 0
[2024-05-29 14:48:16.562] [arm_logger] [debug] Counter 0
[2024-05-29 14:48:16.612] [arm_logger] [debug] Counter 0
[2024-05-29 14:48:16.662] [arm_logger] [debug] Counter 0
[2024-05-29 14:48:16.712] [arm_logger] [debug] Counter 0
[2024-05-29 14:48:16.763] [arm_logger] [debug] Counter 0
[2024-05-29 14:48:16.813] [arm_logger] [debug] Counter 0
[2024-05-29 14:48:16.863] [arm_logger] [debug] Counter 0
[2024-05-29 14:48:16.913] [arm_logger] [debug] Counter 0
[2024-05-29 14:48:16.963] [arm_logger] [debug] Counter 0
[2024-05-29 14:48:17.013] [arm_logger] [debug] Counter 0
[2024-05-29 14:48:17.064] [arm_logger] [debug] Counter 0
[2024-05-29 14:48:17.114] [arm_logger] [debug] Counter 0
[2024-05-29 14:48:17.164] [arm_logger] [debug] Counter 0
[2024-05-29 14:48:17.214] [arm_logger] [debug] Counter 0
[2024-05-29 14:48:17.264] [arm_logger] [debug] Counter 0
[2024-05-29 14:48:17.315] [arm_logger] [debug] Counter 0
[2024-05-29 14:48:17.365] [arm_logger] [debug] Counter 0
[2024-05-29 14:48:17.415] [arm_logger] [debug] Counter 0
[2024-05-29 14:48:17.465] [arm_logger] [debug] Counter 0
[2024-05-29 14:48:17.516] [arm_logger] [debug] No traj interpolator is specified
[2024-05-29 14:48:17.516] [arm_logger] [debug] No state estimator is specified
[2024-05-29 14:48:17.566] [arm_logger] [debug] No traj interpolator is specified
[2024-05-29 14:48:17.566] [arm_logger] [debug] No state estimator is specified
[2024-05-29 14:48:17.616] [arm_logger] [debug] No traj interpolator is specified
[2024-05-29 14:48:17.616] [arm_logger] [debug] No state estimator is specified
[2024-05-29 14:48:17.666] [arm_logger] [debug] No traj interpolator is specified
[2024-05-29 14:48:17.666] [arm_logger] [debug] No state estimator is specified
[2024-05-29 14:48:17.716] [arm_logger] [debug] No traj interpolator is specified
[2024-05-29 14:48:17.716] [arm_logger] [debug] No state estimator is specified
[2024-05-29 14:48:17.766] [arm_logger] [debug] No traj interpolator is specified
[2024-05-29 14:48:17.766] [arm_logger] [debug] No state estimator is specified
[2024-05-29 14:48:17.817] [arm_

@damianliumin
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I also encounter this issue. Is there any progress on it?

@zhuyifengzju
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Sorry, I don't have the condition to test on a real robot now. Someone said to set counter higher. That's one thing to try. Another thing is to check the internet latency between the NUC and desktop. The latency might be a thing if you are using a network switch, and some network switch might cause high internet latency.

@Hoyyyaard
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@SilvesterYu @ywang-bdai Has anyone solved this problem? Is it caused by a mismatch in the robot version? For example, my Franka is 4.22, and the official documentation says it requires a version greater than 0.9.1 and less than 0.10.0, but this repository does not provide that.

@zhuyifengzju
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From feedback from some users, deoxys can support at least to 0.13.0 .

@babbatem
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Hey @zhuyifengzju, we're having this issue with our new FR3 (system ver. 5.2.2, libfranka 0.10) in AHG as well.

Crashes after "[info - arm_logger] Joint position callback".

Could you elaborate on the counter you mentioned?

Please let me know if there are tests we can run here with the robot to help debug.

Thanks!

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@zhuyifengzju @babbatem @Ynao3 @SilvesterYu @Hoyyyaard @damianliumin @ywang-bdai