Forums Niryo One Troubleshooting Urgent need your help!! Gripper Noise and position inaccurately

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  • MorrisTaipei
    Participant
    Post count: 6

    Hi all,

    we are a newbie in Niryo one. please help !!
    the gripper is running with noise and some sequence positions are inaccurate

    the video like this https://youtu.be/d2rdk3AJD-4

    Please help if any suggestion.

    Thanks and good day.
    Morris

    FindingNiryo
    Participant
    Post count: 97

    If you are using NiryoStudio to control the arm
    please export the sequence to XML and paste here so we can see the desired behavior.
    Also, is “Arm max. speed” 100%?
    If you are using the arm command tab what is your gripper close speed?
    Have you gotten any error codes for the gripper in the hardware status tab?

    One gripper joint seems to be zip tied straight. Have you tried the gripper without freezing that link?

    I suggest using a smaller cup:
    1) Diameter of cup is greater than gripper width of 50mm
    2) Cup holds about 350cc but arm max lift = 195 grams with gripper 3

    MorrisTaipei
    Participant
    Post count: 6

    Hi,

    thanks for the reply.
    finally, we passed phase one project delivery
    result sharing here https://niryo.com/forums/topic/niryo-robot-arm-in-food-and-beverage-industrial-demo-demo-training/

    Here come ur first sequence xml
    <xml xmlns=”http://www.w3.org/1999/xhtml”><block type=”niryo_one_change_tool” id=”YkPLL(gQ+[u$QkHC8Rx" x="-10" y="-350"><value name="NEW_TOOL_ID"><block type="niryo_one_tool_select" id="nMX!sLn9rgdHc2/)]1V@"><field name="TOOL_SELECT">TOOL_GRIPPER_3_ID</field></block></value><next><block type="niryo_one_set_arm_max_speed" id="Hf]Id=9:2oR^H7xQAXPS"><value name="SET_ARM_MAX_SPEED"><block type="math_number" id=";?lXY=DXP?%mHvyMxQ5b"><field name="NUM">100</field></block></value><next><block type="niryo_one_move_joints" id="r%tdvn0cO94_U!,Sm5C”><field name=”JOINTS_1″>0.001</field><field name=”JOINTS_2″>0.009000000000000001</field><field name=”JOINTS_3″>-1.35</field><field name=”JOINTS_4″>-0.023</field><field name=”JOINTS_5″>0.041</field><field name=”JOINTS_6″>-0.005</field><next><block type=”niryo_one_close_gripper” id=”P=)u{@P-mUzpFHZR)m~"><field name="CLOSE_SPEED">250</field><value name="CLOSE_GRIPPER_ID"><block type="niryo_one_tool_select" id="5[8oGz7N;de0)cK$1;Id"><field name="TOOL_SELECT">TOOL_GRIPPER_3_ID</field></block></value></block></next></block></next></block></next></block><block type="niryo_one_move_joints" id="fQnB#qvXAI82#NuXnGG=" x="-10" y="-150"><field name="JOINTS_1">-0.668</field><field name="JOINTS_2">-0.849</field><field name="JOINTS_3">-0.558</field><field name="JOINTS_4">-0.046</field><field name="JOINTS_5">1.427</field><field name="JOINTS_6">-0.015</field><next><block type="niryo_one_open_gripper" id="@g2E63hsHlK91y|:8Qk:"><field name="OPEN_SPEED">250</field><value name="OPEN_GRIPPER_ID"><block type="niryo_one_tool_select" id="bc@oWQ#)yxW.e%2mz+nn"><field name="TOOL_SELECT">TOOL_GRIPPER_3_ID</field></block></value><next><block type="niryo_one_move_joints" id="WpGeQoZRkv%y$x7nE$PB"><field name="JOINTS_1">-0.672</field><field name="JOINTS_2">-0.97</field><field name="JOINTS_3">-0.146</field><field name="JOINTS_4">-0.002</field><field name="JOINTS_5">1.158</field><field name="JOINTS_6">-0.02</field><next><block type="niryo_one_close_gripper" id="3ra#KHN[oEp;t#oCCQV/"><field name="CLOSE_SPEED">250</field><value name="CLOSE_GRIPPER_ID"><block type="niryo_one_tool_select" id="noaa+D}KV}(JLQ~3zU!="><field name="TOOL_SELECT">TOOL_GRIPPER_3_ID</field></block></value><next><block type="niryo_one_move_joints" id="^_5;WZZFY=E]imO^D6IV"><field name="JOINTS_1">-0.664</field><field name="JOINTS_2">-0.903</field><field name="JOINTS_3">-0.152</field><field name="JOINTS_4">0.002</field><field name="JOINTS_5">1.08</field><field name="JOINTS_6">-0.04</field></block></next></block></next></block></next></block></next></block><block type="niryo_one_move_joints" id="EfXUFAdn_6rN:)ClDNes" x="10" y="90"><field name="JOINTS_1">-0.301</field><field name="JOINTS_2">-0.797</field><field name="JOINTS_3">-0.384</field><field name="JOINTS_4">-0.78</field><field name="JOINTS_5">1.306</field><field name="JOINTS_6">0.243</field><next><block type="niryo_one_move_joints" id="0:GR9yl}ddz#Z3$zi|~q"><field name="JOINTS_1">-0.08700000000000001</field><field name="JOINTS_2">-1.0070000000000001</field><field name="JOINTS_3">0.075</field><field name="JOINTS_4">-0.582</field><field name="JOINTS_5">1.0150000000000001</field><field name="JOINTS_6">0.324</field><next><block type="niryo_one_move_joints" id="BTi0(p:/PX34[F:]cP4“><field name=”JOINTS_1″>-0.08700000000000001</field><field name=”JOINTS_2″>-1.05</field><field name=”JOINTS_3″>0.079</field><field name=”JOINTS_4″>-0.597</field><field name=”JOINTS_5″>1.018</field><field name=”JOINTS_6″>0.268</field><next><block type=”niryo_one_open_gripper” id=”l!.aq%s8^|0uyl(x/FB[“><field name=”OPEN_SPEED”>250</field><value name=”OPEN_GRIPPER_ID”><block type=”niryo_one_tool_select” id=”IpXECq)u|Rn*NTLjv:C"><field name="TOOL_SELECT">TOOL_GRIPPER_3_ID</field></block></value><next><block type="niryo_one_open_gripper" id="1?0V+(fL}Yoz)2Zk.0g;"><field name="OPEN_SPEED">250</field><value name="OPEN_GRIPPER_ID"><block type="niryo_one_tool_select" id="4ak6FR)hP5Sof6HA2k6f"><field name="TOOL_SELECT">TOOL_GRIPPER_3_ID</field></block></value><next><block type="niryo_one_move_joints" id="=:|5#Ih=])vXBwz0[5b1"><field name="JOINTS_1">-0.111</field><field name="JOINTS_2">-1.092</field><field name="JOINTS_3">0.022</field><field name="JOINTS_4">-0.596</field><field name="JOINTS_5">1.0170000000000001</field><field name="JOINTS_6">0.253</field></block></next></block></next></block></next></block></next></block></next></block><block type="niryo_one_move_joints" id="q$PS*-vV+|^uX[^5o8w$" x="30" y="350"><field name="JOINTS_1">-0.468</field><field name="JOINTS_2">-1.072</field><field name="JOINTS_3">-0.064</field><field name="JOINTS_4">-1.316</field><field name="JOINTS_5">1.35</field><field name="JOINTS_6">0.304</field><next><block type="niryo_one_close_gripper" id="6vIcg7NKaml+-zlPO]B”><field name=”CLOSE_SPEED”>250</field><value name=”CLOSE_GRIPPER_ID”><block type=”niryo_one_tool_select” id=”h~(-Q;h@^0YWPucw+wHf”><field name=”TOOL_SELECT”>TOOL_GRIPPER_3_ID</field></block></value><next><block type=”niryo_one_move_joints” id=”^;ZKf6t1YA3K_Q!Or2%k”><field name=”JOINTS_1″>-0.089</field><field name=”JOINTS_2″>-0.47500000000000003</field><field name=”JOINTS_3″>-0.792</field><field name=”JOINTS_4″>-1.0010000000000001</field><field name=”JOINTS_5″>1.5050000000000001</field><field name=”JOINTS_6″>0.8300000000000001</field><next><block type=”niryo_one_move_joints” id=”2v;z2L2.!OI4)8=fDtlu”><field name=”JOINTS_1″>0.052000000000000005</field><field name=”JOINTS_2″>-0.47500000000000003</field><field name=”JOINTS_3″>-0.747</field><field name=”JOINTS_4″>-0.9480000000000001</field><field name=”JOINTS_5″>1.487</field><field name=”JOINTS_6″>0.795</field><next><block type=”niryo_one_move_joints” id=”I#E5A-kFp#Q([7p;!gDy”><field name=”JOINTS_1″>-0.065</field><field name=”JOINTS_2″>-0.462</field><field name=”JOINTS_3″>-0.78</field><field name=”JOINTS_4″>-0.992</field><field name=”JOINTS_5″>1.494</field><field name=”JOINTS_6″>0.8</field></block></next></block></next></block></next></block></next></block><block type=”niryo_one_move_joints” id=”F{CO,!8uT6erKfH}oO;" x="70" y="570"><field name="JOINTS_1">0.001</field><field name="JOINTS_2">0.009000000000000001</field><field name="JOINTS_3">-1.35</field><field name="JOINTS_4">-0.023</field><field name="JOINTS_5">0.041</field><field name="JOINTS_6">-0.005</field><next><block type="niryo_one_close_gripper" id="2mA+Usg?@kb^3hGYwfeE"><field name="CLOSE_SPEED">250</field><value name="CLOSE_GRIPPER_ID"><block type="niryo_one_tool_select" id="pUwl,i*#mDnu8y[q?%H”><field name=”TOOL_SELECT”>TOOL_GRIPPER_3_ID</field></block></value><next><block type=”niryo_one_activate_learning_mode” id=”c5!/!3`@BgzSOB/=G9Ez”><field name=”LEARNING_MODE_VALUE”>1</field></block></next></block></next></block></xml>

    MorrisTaipei
    Participant
    Post count: 6

    <xml xmlns=”http://www.w3.org/1999/xhtml”><block type=”niryo_one_move_joints” id=”Bo|z;*$#S$nGx)Y2wDF2″ x=”0″ y=”0″><field name=”JOINTS_1″>-0.31</field><field name=”JOINTS_2″>-1.156</field><field name=”JOINTS_3″>-0.195</field><field name=”JOINTS_4″>-0.783</field><field name=”JOINTS_5″>1.3780000000000001</field><field name=”JOINTS_6″>0.192</field><next><block type=”niryo_one_open_gripper” id=”a{XCZ4*tJ;SYCE5W;Z+v”><field name=”OPEN_SPEED”>250</field><value name=”OPEN_GRIPPER_ID”><block type=”niryo_one_tool_select” id=”N@MYkW0^+G,Ni,Q}GKl1″><field name=”TOOL_SELECT”>TOOL_GRIPPER_3_ID</field></block></value><next><block type=”niryo_one_move_joints” id=”F;~(#iEr4$VNdg.B^zl7″><field name=”JOINTS_1″>-0.12</field><field name=”JOINTS_2″>-1.312</field><field name=”JOINTS_3″>0.252</field><field name=”JOINTS_4″>-0.662</field><field name=”JOINTS_5″>1.1440000000000001</field><field name=”JOINTS_6″>0.334</field></block></next></block></next></block><block type=”niryo_one_move_joints” id=”{5E0!35hD+CuKGh+sbIx” x=”0″ y=”103″><field name=”JOINTS_1″>-0.135</field><field name=”JOINTS_2″>-1.076</field><field name=”JOINTS_3″>0.095</field><field name=”JOINTS_4″>-0.716</field><field name=”JOINTS_5″>1.118</field><field name=”JOINTS_6″>0.34400000000000003</field><next><block type=”niryo_one_close_gripper” id=”gMkW(ROx^wG4O2t=oel^”><field name=”CLOSE_SPEED”>250</field><value name=”CLOSE_GRIPPER_ID”><block type=”niryo_one_tool_select” id=”h}jh4YrTUCIfjbATsC74″><field name=”TOOL_SELECT”>TOOL_GRIPPER_3_ID</field></block></value></block></next></block><block type=”niryo_one_move_joints” id=”*EB(t?=F$NYHwTSSehmY” x=”30″ y=”210″><field name=”JOINTS_1″>-0.12</field><field name=”JOINTS_2″>-1.01</field><field name=”JOINTS_3″>0.094</field><field name=”JOINTS_4″>-0.713</field><field name=”JOINTS_5″>1.133</field><field name=”JOINTS_6″>0.324</field><next><block type=”niryo_one_move_joints” id=”c*?RA935(n2A3g8(p?Y^”><field name=”JOINTS_1″>-0.319</field><field name=”JOINTS_2″>-0.65</field><field name=”JOINTS_3″>-0.628</field><field name=”JOINTS_4″>-0.72</field><field name=”JOINTS_5″>1.478</field><field name=”JOINTS_6″>0.137</field><next><block type=”niryo_one_move_joints” id=”iHg/N)?2#Pn^3A.D=Fqn”><field name=”JOINTS_1″>-0.588</field><field name=”JOINTS_2″>-0.78</field><field name=”JOINTS_3″>-0.5760000000000001</field><field name=”JOINTS_4″>1.597</field><field name=”JOINTS_5″>1.7750000000000001</field><field name=”JOINTS_6″>-0.127</field><next><block type=”niryo_one_move_joints” id=”T[5B!6Mku6E#+i~bJhI"><field name="JOINTS_1">-1.043</field><field name="JOINTS_2">-0.73</field><field name="JOINTS_3">-0.726</field><field name="JOINTS_4">1.2670000000000001</field><field name="JOINTS_5">1.668</field><field name="JOINTS_6">-0.081</field></block></next></block></next></block></next></block><block type="niryo_one_move_joints" id="h_b4O~$bkwW3[elfDjD” x=”30″ y=”370″><field name=”JOINTS_1″>-1.051</field><field name=”JOINTS_2″>-0.788</field><field name=”JOINTS_3″>-0.723</field><field name=”JOINTS_4″>1.2530000000000001</field><field name=”JOINTS_5″>1.617</field><field name=”JOINTS_6″>-0.04</field><next><block type=”niryo_one_open_gripper” id=”;5Z6oL2Gtu7m!ipVjl#Z”><field name=”OPEN_SPEED”>250</field><value name=”OPEN_GRIPPER_ID”><block type=”niryo_one_tool_select” id=”]F#?HHc@{5d^G+.Z;P1W”><field name=”TOOL_SELECT”>TOOL_GRIPPER_3_ID</field></block></value><next><block type=”niryo_one_move_joints” id=”=W3v:.J|SK3BzzjWl=Ls”><field name=”JOINTS_1″>-1.014</field><field name=”JOINTS_2″>-0.916</field><field name=”JOINTS_3″>-0.719</field><field name=”JOINTS_4″>1.243</field><field name=”JOINTS_5″>1.431</field><field name=”JOINTS_6″>0.081</field><next><block type=”niryo_one_move_joints” id=”6VUR8(),CG=^w4#!WteC”><field name=”JOINTS_1″>-0.64</field><field name=”JOINTS_2″>-0.9390000000000001</field><field name=”JOINTS_3″>-0.545</field><field name=”JOINTS_4″>1.817</field><field name=”JOINTS_5″>1.431</field><field name=”JOINTS_6″>-0.061</field></block></next></block></next></block></next></block><block type=”niryo_one_move_joints” id=”:_NDiBZXuRaY3#A+WP._” x=”30″ y=”570″><field name=”JOINTS_1″>0.001</field><field name=”JOINTS_2″>0.01</field><field name=”JOINTS_3″>-1.35</field><field name=”JOINTS_4″>-0.011</field><field name=”JOINTS_5″>0.022</field><field name=”JOINTS_6″>0</field><next><block type=”niryo_one_close_gripper” id=”]Bt-g|vw!ECLqD:oyr”><field name=”CLOSE_SPEED”>250</field><value name=”CLOSE_GRIPPER_ID”><block type=”niryo_one_tool_select” id=”LBE.q=rdx)b?DrgpBeXm”><field name=”TOOL_SELECT”>TOOL_GRIPPER_3_ID</field></block></value></block></next></block></xml>

    FindingNiryo
    Participant
    Post count: 97

    I see from your video that you got the gripper to work.
    What was the problem and how did you fix it?

    MorrisTaipei
    Participant
    Post count: 6

    Hi FindingNiryo,

    thanks for your help. sorry for the late reply. I just leave for the holidays.
    Still, need your help in this case. We didn’t solve this issue.

    1.Objective:
    Our request is to run the robot arm sequence like this video
    https://drive.google.com/file/d/1nJyNx81nAEXemVTjISJgL7qeySx7_VOl/view
    we use learning mode to build this sequence code and doing some adjustment.

    2.Issue:
    BUT, these codes run just 60 % successful rate, means NEVER RUN SUCCESSFUL over 10 times, at least once or twice fails / 10 times.
    Fail Cases likes
    https://drive.google.com/file/d/1nJyNx81nAEXemVTjISJgL7qeySx7_VOl/view?usp=sharing
    https://drive.google.com/file/d/112xwCEpI64iQ7hFGureOb7KLl75eJ678/view
    Screen shows
    https://drive.google.com/file/d/1sn1QV3Fp5HF81DCB5QLghOaPHIetmcPH/view?usp=sharing

    3.Need your solution.
    Even, we just run these sequence code without holding a cup, it still fails often.
    Would you please run our sequence code for us, and see any error what we should modify? we couldnt find out any solution for this
    Our sequence code here
    Part-1 grip cup to the cafe machine
    https://drive.google.com/file/d/0Bz4f1jbbQb8yWmZkX2VOdHZ3NWgtUE51SkR5UExWWmFrWlY0/view?usp=sharing
    Part-2 grip cafe to the table.
    https://drive.google.com/file/d/0Bz4f1jbbQb8ycm9KTWxpUjYwcnZibU9MSjRQbExydjdCZHhN/view?usp=sharing

    thanks for help and have a nice day.
    Morris

    • This reply was modified 1 week, 2 days ago by  MorrisTaipei.
    • This reply was modified 1 week, 2 days ago by  MorrisTaipei.
    • This reply was modified 1 week, 2 days ago by  MorrisTaipei.
    MorrisTaipei
    Participant
    Post count: 6

    Additional information

    1.Hardware\Firmware\Software version
    https://drive.google.com/file/d/13O2ZZqci7G8tkPleWWFNVwpQyvJzBxGI/view?usp=sharing

    2.error screen when fail run.
    https://drive.google.com/file/d/1pBZkAj0pbCk0grmWIIcsV32zmG6SOSBG/view?usp=sharing

    • This reply was modified 1 week, 2 days ago by  MorrisTaipei.
    FindingNiryo
    Participant
    Post count: 97

    Looks similar to errors I was having https://niryo.com/forums/topic/sequence-autorun-arbitrarily-stops-no-trajectory-defined-at-current-time/ Edouard Renard has made a change to address this (for the next release end of August/beginning of September).
    If you can not wait you can apply the change:
    SSH into the robot. https://niryo.com/docs/niryo-one/developer-tutorials/connect-to-the-raspberry-pi-3-via-ssh/
    Stop the robot program

    The change is this: ~catkin_ws/src/niryo_one_commander/scripts/robot_commander.py#L73
    – Right after this line (“self.reset_controller()”) in the robot_commander.py file (and before “rospy.loginfo(‘Send Moveit trajectory’)), add this line : rospy.sleep(0.05)

    Then you’ll need to reboot the robot or simply shutdown/restart the ROS stack.

    OR you can apply this change from GitHub:
    ‘git pull’ and ‘catkin_make -j2’

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