fix(franka): desk ignore realtime control

Author: juelg

extensions/rcs_fr3/src/rcs_fr3/desk.py

@@ -51,6 +51,7 @@ def home(ip: str):
     env_cfg = default_env.config()
     robot_cfg = env_cfg.robot_cfg
     robot_cfg.speed_factor = 0.2
+    robot_cfg.ignore_realtime = True
     f = rcs_fr3.hw.Franka(robot_cfg)
     f.move_home()
 
@@ -72,6 +73,7 @@ def gripper(ip: str, close_gripper: bool):
 def info(ip: str, include_hand: bool = False):
     robot_cfg = rcs_fr3.hw.FR3Config(ip=ip)
     robot_cfg.speed_factor = 0.2
+    robot_cfg.ignore_realtime = True
     f = rcs_fr3.hw.Franka(robot_cfg)
     print("Robot info:")
     print("Current cartesian position:")

extensions/rcs_panda/src/rcs_panda/desk.py

@@ -51,6 +51,7 @@ def home(ip: str):
     env_cfg = default_env.config()
     robot_cfg = env_cfg.robot_cfg
     robot_cfg.speed_factor = 0.2
+    robot_cfg.ignore_realtime = True
     f = rcs_panda.hw.Franka(robot_cfg)
     f.move_home()
 
@@ -71,6 +72,7 @@ def gripper(ip: str, close_gripper: bool):
 def info(ip: str, include_hand: bool = False):
     robot_cfg = rcs_panda.hw.PandaConfig(ip=ip)
     robot_cfg.speed_factor = 0.2
+    robot_cfg.ignore_realtime = True
     f = rcs_panda.hw.Franka(robot_cfg)
     print("Robot info:")
     print("Current cartesian position:")