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robot moves to pick position with high speed
vacuum is turned on
an error message “Failed to control the robot after picking box” appears in the log
vacuum is turned off immediately
robot proceeds without holding the box
the above steps are repeated one or more times
The This error can be observed with all of these grippers that can be controlled by Pally:
Schmalz FXCB
Unigripper CoLight
Custom Vacuum Gripper
other special grippers defined by a gripper.json file
Another appearance of the same bug can be observed in projects where the gripper is controlled by user code in callbacks:
robot moves to the pick position (typically with high speed)
vacuum is turned on by user code in beforeGrab callback
robot picks the box
robot moves the box to the pallet position
box counter is not increased, the robot will try to palletize the same position over and over again
This error can be observed with all of these grippers that are controlled by user code:
Custom gripper
Custom vacuum gripper
Currently the following workaround is possible:
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