Robot Not Controlled after launching `launch_robot.py`

[andrearosasco]

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Description

When I run python launch_robot.py robot_client=franka_hardware on the workstation connected to the robot, the scripts connects successfully. However, the arm does not seems to be controlled and can be easily moved by hand. Is that normal?

Also, if I run this test script

from polymetis import RobotInterface
import torch
import time

robot = RobotInterface(
    ip_address='localhost',
    enforce_version=False
)

while True:
    position, orientation = robot.get_ee_pose()
    position[0] += 0.0001
    robot.move_to_ee_pose(position=position, orientation=orientation)
    time.sleep(0.1)

the server prints

[2024-02-14 16:01:42.096] [error] Robot is unable to be controlled: libfranka: Move command aborted: motion aborted by reflex ["communication_constraints_violation"]
control_command_success_rate: 0.517 packets lost in a row in the last sample: 45
[2024-02-14 16:01:42.096] [warning] Performing automatic error recovery. This calls franka::Robot::automaticErrorRecovery, which is equivalent to pressing and releasing the external activation device.
[2024-02-14 16:01:42.096] [warning] Automatic error recovery attempt 1/3...
[2024-02-14 16:01:43.097] [warning] Robot operation recovered.
[2024-02-14 16:01:43.100] [warning] Interrupted control update greater than threshold of 1000000000 ns. Reverting to default controller...
[2024-02-14 16:01:43.101] [info] Terminating custom controller, switching to default controller.
[2024-02-14 16:01:44.204] [info] Loaded new controller

in loop.

I followed the installation procedure in the docs but I had to change the verrsion of libfranka in /miniforge/envs/polymetis/lib/ from 0.9 to 0.8 to make it work. Probably due to the firmware version of the panda which I can not update.