Forums Niryo One Troubleshooting Trajectory timeout using Python API Reply To: Trajectory timeout using Python API

Betegustaf
Participant
Post count: 16

I ‘m trying to make a python file (as a “normal programm” using python API for flexibility) to calculate trajectories and then execute it, I would like to use the cartesian path (with move_group.compute_cartesian_path) wich is what I want at the end (I’m not sure if it’s possible and as easy with the niryo /niryo_one_follow_joint_trajectory_controller/command).

I ran into a problem :

when I use “move_group.get_current_pose().pose” if I print it I get a difference on rotation x,y,z (value returned is approximately half of the value printed on Niryo One studio) resulting in error ABORTED: Solution found but controller failed during execution
I guess I made a mistake when using:

group_name = “arm”
move_group = moveit_commander.MoveGroupCommander(group_name)

Here is my file if you have any advice :
https://github.com/Tmehault/cartesian-path/blob/master/CartesianPath.py

  • This reply was modified 6 months, 3 weeks ago by  Betegustaf.
  • This reply was modified 6 months, 3 weeks ago by  Betegustaf.