Regarding pip3 vs pip
Depending on your system, pip install
may still be using python 2, whereas pip3 install
ensures you are working with python 3. Because our python api is only built to work with python 3, pip install
may not work if it is trying to install our api in a python 2 environment. As such, your assumption to use pip3 install
With regards to your initial issue with the arm
I tried to recreate the bug you are experiencing with a 5-DoF_w_gripper arm, but everything was working as expected on my end. This was my process:
I started with the latest Python 2.3.0 release, in a fresh clone of the hebi_python_examples repo master branch, with the file ex_AR_kit_w_gripper.py.
In this file, I changed only 4 lines of code:
Code: Select all
38 module_names = ['J1_base', 'J2_shoulder', 'J3_elbow', 'J4_wrist1', 'J5_wrist2', 'J6_wrist3']
39 hrdf_file = "hrdf/A-2085-06G.hrdf"
40 gains_file = "gains/A-2085-06.xml"
72 home_position = [0, np.pi/3, 2*np.pi/3, 5*np.pi/6, -np.pi/2, 0]
Code: Select all
38 module_names = ['J1_base', 'J2_shoulder', 'J3_elbow', 'J4_wrist1', 'J5_wrist2']
39 hrdf_file = "hrdf/A-2085-05G.hrdf"
40 gains_file = "gains/A-2085-05.xml"
72 home_position = [0, np.pi/3, 2*np.pi/3, 5*np.pi/6, -np.pi/2]
In short, I updated the module_names, hrdf_file, gains_file, and home_position by removing the last degree of freedom (J6_wrist3). With just these changes, the remaining math/code in the file should still work, and I am able to run a 5_DoF_w_gripper arm ARkit demo using this example code.
Have you made a different set of changes to your code? If you follow the same process I did, do you experience the same bug as earlier? If you're still experiencing some issues, it would help if you could send code snippets or screenshots of how you are configuring the file to go from 6-DoF to 5-DoF.
Hope this helps!