Motion Command Aborted

[sesem738]

Hi,

I am trying to use the franky library to execute my trained RL policies. However, I cannot run any of the franky examples, though I can run the examples from the libfranka library. I am using a laptop with a 7th Gen Core i7 and have set the power mode to performance. When I run the communications test, it has a 100% success rate. I am using version 0.9.1 of franky. Does anyone have advice on how to rectify this issue?

[TimSchneider42]

Hi,

as you can see in the error message, you have a joint limit violation. Try to move the robot manually into a pose in which none of the joints are at their limit and make sure that you do not command the robot to move into the joint limits.

Best,
Tim

[sesem738]

Hi,

Thanks for the response. I have tried different initial positions before I run the code, but I am still getting the same error. I have add a picture of the initial position I use. I am also wanted to add that I am using the FRANKA RESEARCH 3.

[TimSchneider42]

Can you check whether the second joint from the bottom is close to its joint limit?