Robot Model Not Working

[AlexanderKhazatsky]

Hello! I am using a franka with the robotiq gripper mounted on. Because of this, I would like to use robot_model=franka_panda_robotiq_85.

However, when I try to do this I get the following error. Any help would be much appreciated :)

2022-12-06 16:20:11,063][polymetis.robot_client.executable_robot_client][INFO] - === Executing client at /home/sasha/fairo/polymetis/polymetis/build/franka_panda_client ===
Using 20MB as stack size
Using 80 as real-time thread priority
Using 0 as cpu_dma_latency
Disabled sbrk...
Disabled mmap...
Locked memory...
Initialized pthread...
Finished setting stacksize...
Finished setting scheduling policy & priority...
Creating thread...
Started realtime thread.
[2022-12-06 16:20:11.100] [info] ==== Initializing new RobotClient... ====
franka_panda_client: /home/sasha/fairo/polymetis/polymetis/src/clients/franka_panda_client/franka_panda_client.cpp:44: FrankaTorqueControlClient::FrankaTorqueControlClient(std::shared_ptrgrpc::Channel, YAML::Node): Assertion `status.ok()' failed.
Traceback (most recent call last):
File "/home/sasha/fairo/polymetis/polymetis/python/scripts/launch_robot.py", line 84, in main
client.run()
File "/home/sasha/fairo/polymetis/polymetis/python/polymetis/robot_client/executable_robot_client.py", line 78, in run
subprocess.run(
File "/home/sasha/anaconda3/envs/polymetis-local/lib/python3.8/subprocess.py", line 512, in run
raise CalledProcessError(retcode, process.args,
subprocess.CalledProcessError: Command '['sudo', 'env', '"PATH=$PATH"', '/home/sasha/fairo/polymetis/polymetis/build/franka_panda_client', '/tmp/tmp48smwj61']' died with <Signals.SIGABRT: 6>.

Set the environment variable HYDRA_FULL_ERROR=1 for a complete stack trace.
[2022-12-06 16:20:11,319][main][INFO] - Using sudo to kill subprocess with pid 9086, pgid 9086...

[AlexanderKhazatsky]

Gentle bump about this. We are starting data collection this week and would love to have this fixed before beginning :)

[exhaustin]

Hi @AlexanderKhazatsky! Terribly sorry I am currently remote and thus won't be able to debug this soon. However, I think this hack will probably work:

1. Take panda_robotiq_85.urdf and modify all robotiq joints to be of type "fixed".
2. Instead of using robot_model=franka_panda_robotiq_85, try robot_model.robot_description_path=path/to/the/urdf/in/the/above/step

This way, you won't confuse the controllers with extra degrees of freedoms, while getting an accurate robot model that accounts for the dynamics induced by the robotiq gripper.

[AlexanderKhazatsky]

Thanks! I'm also remote and haven't been able to try this, but I did noice an error caused by the fact that the URDF assumes that the following mesh exists: meshes/robotiq-2f/collision/base.stl

However when I look in the folder, it doesn't seem to be there. Is this the case on your end as well?

[AlexanderKhazatsky]

Hello! I was wondering if a more permanent fix could be pushed for this at some point :)

[exhaustin]

We simlink polymetis/data/franka_panda_robotiq_85/meshes/robotiq-2f to polymetis/data/kuka_iiwa/meshes/robotiq-2f/collision/base.stl, so it should be there.
If your able to view your local files, can you cd into polymetis/data/kuka_iiwa/meshes/robotiq-2f to see if the symlink is working properly?