36 lines
1.4 KiB
Markdown
36 lines
1.4 KiB
Markdown
# Open issues after workstation test
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Recorded: 2026-09-15
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## 1. `cobot update` error
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On another computer, `cobot update` failed while installing Python libraries.
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The full output was not captured, so the cause is unknown. The next
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investigation needs the Python version, distribution/environment, and the
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complete log starting at the first error.
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## 2. Drive knocking in the `controller` branch
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While testing branch `controller` on the real KUKA iiwa, motion to known target
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points became jerky and the drives audibly knocked/struck internally. A beep
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was also heard at the end of the motion.
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Observed conditions:
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- motion to `work`, speed `0.1`: knocking continued throughout the motion and a
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beep occurred at the end;
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- motion to `home`, speed `0.5`: drive knocking was also present;
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- branch `dev` did not show knocking under these conditions; it appeared only
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rarely in earlier tests;
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- earlier position plots showed isolated short-lived outliers after which the
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drive could not reach the target in time.
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The issue may be related to the FRI/ros2_control implementation in
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`controller`. Investigation should check the seven-value position format and
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order, FRI timestamps and rate, `COMMANDING_WAIT`/`COMMANDING_ACTIVE`
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synchronization, rate limiting, and the source of short-lived outliers. Until
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investigated, repeat real-robot tests only with operator supervision and a
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ready emergency-stop procedure.
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No fix is intentionally included in this record.
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