pantor
Get state while moving
Hello,
Is there any way to get information like the pose or the "active waypoint" while the robot is moving? It would be very useful.
I tried to do it with Robot.move_async and then Robot.read_once() but it's not permitted.
Thank you for your help.
Following this! I'd like to be able to record robot poses while it is moving.
Hello,
For your information, a solution has been programmed and can be found here : https://github.com/guenhael/frankx/tree/get_O_T_EE_while_moving
A pull request has been done to add this update to the official frankx library.
If you have any suggestion of improvement, let me know.
Hi,
A solution for getting the robot state while moving, for all supported motions types can be found in the pull request https://github.com/pantor/frankx/pull/44
With this modification it is possible to get the state of the robot (stopped or in motion) by calling the original API as follow
robot = Robot("172.16.0.2")
# Get the current state handling the read exception when the robot is in motion
try:
robot_state = robot.get_state()
except frankx.InvalidOperationException:
robot_state = robot.get_state(read_once=False)
# Get the current pose handling the read exception when the robot is in motion
try:
pose = robot.current_pose()
except frankx.InvalidOperationException:
pose = robot.current_pose(read_once=False)
# Get the current joint positions handling the read exception when the robot is in motion
try:
joint_positions = robot.current_joint_positions()
except frankx.InvalidOperationException:
joint_positions = robot.current_joint_positions(read_once=False)
It use has been tested in a reinforcement learning application as exemplified in the skrl - Real-world examples documentation
