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