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Users of Pally 2.10.0 may experience the following incorrect behaviour:

  • 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 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

Currently the following workaround is possible:

  • set the following two parameters by adding script lines in the initial MoveJ node:

    • rf_joint_deviation_max=0

    • rf_joint_deviation_err=0

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