Hi there,
First off, thank you for making this wrapper! It has been a huge help for my setup, especially with my FR3 deployed on a mobile base and controlled via an onboard PC.
I’m opening this issue regarding the disable_franka.py script. Currently, it calls shutdown(), which powers down the entire system. I think it would be highly beneficial to separate this functionality: having one script just to disable the robot (deactivate the FCI and lock the joints) and a separate dedicated script for a hard shutdown.
I wrote a simple custom script to do just this, but I'm running into a block: it fails to trigger the deactivate_fci() command and throws a 423 Client Error: Locked.
This made me wonder—did you run into this 423 error during development, and is that the reason the current disable_franka.py defaults to a full shutdown?
Any insights on how to properly bypass that 423 error so we can safely drop the FCI connection would be greatly appreciated. (Since your README mentions collaborating, I'd be happy to submit a PR with the separated scripts once I can get the standalone disable working reliably!).
Thanks again!
Hi there,
First off, thank you for making this wrapper! It has been a huge help for my setup, especially with my FR3 deployed on a mobile base and controlled via an onboard PC.
I’m opening this issue regarding the disable_franka.py script. Currently, it calls shutdown(), which powers down the entire system. I think it would be highly beneficial to separate this functionality: having one script just to disable the robot (deactivate the FCI and lock the joints) and a separate dedicated script for a hard shutdown.
I wrote a simple custom script to do just this, but I'm running into a block: it fails to trigger the deactivate_fci() command and throws a 423 Client Error: Locked.
This made me wonder—did you run into this 423 error during development, and is that the reason the current disable_franka.py defaults to a full shutdown?
Any insights on how to properly bypass that 423 error so we can safely drop the FCI connection would be greatly appreciated. (Since your README mentions collaborating, I'd be happy to submit a PR with the separated scripts once I can get the standalone disable working reliably!).
Thanks again!