Added consistency check

[alaurenzi]

The script centauro_cartesio_configs/pose_check.py checks that the old model is the same as the new. This should be useful to have the guarantee that everything working with the old model will work on the new as well.

Dependencies:

• urdf_parser_py
• xbot_interface python bindings
• cartesian_interface python bindings

The report right now shows some errors, not all of which are significant

Checking joint names... 
Joint "neck_velodyne" is present in old model and not in new
Joint "neck_yaw" is present in old model and not in new
Joint "neck_pitch" is present in old model and not in new

Checking joint limits... 
Joint "hip_yaw_1" qmax mismatch: error = 0.03
Joint "hip_yaw_1" qmin mismatch: error = 0.03
Joint "hip_pitch_1" qmax mismatch: error = 0.04252
Joint "hip_pitch_1" qmin mismatch: error = 0.0474
Joint "knee_pitch_1" qmax mismatch: error = 0.21859388
Joint "knee_pitch_1" qmin mismatch: error = 0.21239388
Joint "ankle_pitch_1" qmax mismatch: error = 0.29959388
Joint "ankle_pitch_1" qmin mismatch: error = 0.21239388
Joint "ankle_yaw_1" qmax mismatch: error = 0.0384
Joint "ankle_yaw_1" qmin mismatch: error = 0.0626
Joint "hip_yaw_2" qmax mismatch: error = 0.03
Joint "hip_yaw_2" qmin mismatch: error = 0.03
Joint "hip_pitch_2" qmax mismatch: error = 0.0589951
Joint "hip_pitch_2" qmin mismatch: error = 0.0444
Joint "knee_pitch_2" qmax mismatch: error = 0.21459388
Joint "knee_pitch_2" qmin mismatch: error = 0.21739388
Joint "ankle_pitch_2" qmax mismatch: error = 0.22659388
Joint "ankle_pitch_2" qmin mismatch: error = 0.29139388
Joint "ankle_yaw_2" qmax mismatch: error = 0.0484
Joint "ankle_yaw_2" qmin mismatch: error = 0.0546
Joint "hip_yaw_3" qmax mismatch: error = 0.03
Joint "hip_yaw_3" qmin mismatch: error = 0.03
Joint "hip_pitch_3" qmax mismatch: error = 0.0559951
Joint "hip_pitch_3" qmin mismatch: error = 0.0574
Joint "knee_pitch_3" qmax mismatch: error = 0.21159388
Joint "knee_pitch_3" qmin mismatch: error = 0.21239388
Joint "ankle_pitch_3" qmax mismatch: error = 0.17159388
Joint "ankle_pitch_3" qmin mismatch: error = 0.14839388
Joint "ankle_yaw_3" qmax mismatch: error = 0.0454
Joint "ankle_yaw_3" qmin mismatch: error = 0.0606
Joint "hip_yaw_4" qmax mismatch: error = 0.03
Joint "hip_yaw_4" qmin mismatch: error = 0.03
Joint "hip_pitch_4" qmax mismatch: error = 0.0419951
Joint "hip_pitch_4" qmin mismatch: error = 0.0617951
Joint "knee_pitch_4" qmax mismatch: error = 0.22959388
Joint "knee_pitch_4" qmin mismatch: error = 0.20039388
Joint "ankle_pitch_4" qmax mismatch: error = 0.22459388
Joint "ankle_pitch_4" qmin mismatch: error = 0.27539388
Joint "ankle_yaw_4" qmax mismatch: error = 0.0514
Joint "ankle_yaw_4" qmin mismatch: error = 0.1046
Joint "j_arm1_1" qmax mismatch: error = 0.012
Joint "j_arm1_1" qmin mismatch: error = 0.04
Joint "j_arm1_2" qmax mismatch: error = 0.086
Joint "j_arm1_2" qmin mismatch: error = 0.02
Joint "j_arm1_3" qmax mismatch: error = 0.016
Joint "j_arm1_3" qmin mismatch: error = 0.002
Joint "j_arm1_4" qmax mismatch: error = 0.018
Joint "j_arm1_4" qmin mismatch: error = 0.027
Joint "j_arm1_5" qmax mismatch: error = 0.012
Joint "j_arm1_5" qmin mismatch: error = 0.019
Joint "j_arm1_6" qmax mismatch: error = 0.031
Joint "j_arm1_6" qmin mismatch: error = 0.033
Joint "j_arm1_7" qmax mismatch: error = 0.019
Joint "j_arm1_7" qmin mismatch: error = 0.015
Joint "j_arm2_1" qmax mismatch: error = 0.0048
Joint "j_arm2_1" qmin mismatch: error = 0.0132
Joint "j_arm2_2" qmax mismatch: error = 0.0138
Joint "j_arm2_2" qmin mismatch: error = 0.0042
Joint "j_arm2_3" qmax mismatch: error = 0.0106
Joint "j_arm2_3" qmin mismatch: error = 0.0114
Joint "j_arm2_4" qmax mismatch: error = 0.0034
Joint "j_arm2_4" qmin mismatch: error = 0.0086
Joint "j_arm2_5" qmax mismatch: error = 0.0046
Joint "j_arm2_5" qmin mismatch: error = 0.0106
Joint "j_arm2_6" qmax mismatch: error = 0.0076
Joint "j_arm2_6" qmin mismatch: error = 0.0266
Joint "j_arm2_7" qmax mismatch: error = 0.0186
Joint "j_arm2_7" qmin mismatch: error = 0.0054
Joint limits max error is 0.29959388

Checking links... 
Link "pelvis_additional_mass" missing in new model
Link "neck_1" missing in new model
Link "neck_2" missing in new model
Link "neck_3" missing in new model
Link "camera_central" missing in new model
Link "camera_left" missing in new model
Link "camera_right" missing in new model
Link "kinect" missing in new model
Link "velodyne_mount" missing in new model
Link "kinect2_rgb_frame" missing in new model
Link "kinect2_rgb_optical_frame" missing in new model
Link "velodyne_calib" missing in new model
Link "RShp" missing in new model
Link "RShr" missing in new model
Link "RShy" missing in new model
Link "RElb" missing in new model
Link "RForearm" missing in new model
Link "RWrMot2" missing in new model
Link "RWrMot3" missing in new model
Link "r_wrist" missing in new model
Link "LShp" missing in new model
Link "LShr" missing in new model
Link "LShy" missing in new model
Link "LElb" missing in new model
Link "LForearm" missing in new model
Link "LWrMot2" missing in new model
Link "LWrMot3" missing in new model
Link "l_wrist" missing in new model
Link "DWYTorso" missing in new model
Link "ee1" missing in new model
Link "ee2" missing in new model

Checking poses... 
\>\>\> Pose mismatch in link "pelvis": error 0.93445 m, 0.0 deg
Old: 
translation: [ 1.536, 0.4628, 0.1132]
rotation   : [ 0.1476,  0.9133, -0.1142,   0.362]
New: 
translation: [  1.536,  0.4628, -0.8213]
rotation   : [ 0.1476,  0.9133, -0.1142,   0.362]
\>\>\> Pose mismatch in link "imu_link": error 0.93445 m, 0.0 deg
Old: 
translation: [   1.373,   0.5045, -0.07004]
rotation   : [ 0.1476,  0.9133, -0.1142,   0.362]
New: 
translation: [ 1.373, 0.5045, -1.004]
rotation   : [ 0.1476,  0.9133, -0.1142,   0.362]
\>\>\> Pose mismatch in link "torso_2": error 0.93445 m, 0.0 deg
Old: 
translation: [ 1.557, 0.4195, -0.208]
rotation   : [ 0.143,  0.914, -0.116, 0.3614]
New: 
translation: [ 1.557, 0.4195, -1.142]
rotation   : [ 0.143,  0.914, -0.116, 0.3614]
\>\>\> Pose mismatch in link "arm1_1": error 0.93445 m, 1.20741826973e-06 deg
Old: 
translation: [  1.657,  0.5485, -0.3412]
rotation   : [-0.06366,   0.9058,  -0.2865,   0.3057]
New: 
translation: [ 1.657, 0.5485, -1.276]
rotation   : [-0.06366,   0.9058,  -0.2865,   0.3057]
\>\>\> Pose mismatch in link "arm1_2": error 0.93445 m, 0.0 deg
Old: 
translation: [  1.733,   0.626, -0.3291]
rotation   : [-0.1566, -0.4836,  0.8177, -0.2702]
New: 
translation: [ 1.733,  0.626, -1.264]
rotation   : [-0.1566, -0.4836,  0.8177, -0.2702]
\>\>\> Pose mismatch in link "arm1_3": error 0.93445 m, 0.0 deg
Old: 
translation: [   1.66,  0.7908, -0.4812]
rotation   : [-0.1269, -0.4922,  0.8326, -0.2201]
New: 
translation: [  1.66, 0.7908, -1.416]
rotation   : [-0.1269, -0.4922,  0.8326, -0.2201]
\>\>\> Pose mismatch in link "arm1_4": error 0.93445 m, 0.0 deg
Old: 
translation: [  1.647,  0.8216, -0.5783]
rotation   : [  -0.732, -0.02932,  -0.4166,   0.5383]
New: 
translation: [ 1.647, 0.8216, -1.513]
rotation   : [  -0.732, -0.02932,  -0.4166,   0.5383]
\>\>\> Pose mismatch in link "arm1_5": error 0.93445 m, 0.0 deg
Old: 
translation: [  1.555,  0.7736, -0.5389]
rotation   : [0.7164, 0.1529, 0.5018,  -0.46]
New: 
translation: [ 1.555, 0.7736, -1.473]
rotation   : [0.7164, 0.1529, 0.5018,  -0.46]
\>\>\> Pose mismatch in link "arm1_6": error 0.93445 m, 0.0 deg
Old: 
translation: [  1.498,  0.6208, -0.5522]
rotation   : [  0.8743,   0.3972, -0.02494,  -0.2779]
New: 
translation: [ 1.498, 0.6208, -1.487]
rotation   : [  0.8743,   0.3972, -0.02494,  -0.2779]
\>\>\> Pose mismatch in link "arm1_7": error 0.93445 m, 0.0 deg
Old: 
translation: [  1.511,  0.5657, -0.3805]
rotation   : [ 0.9494, -0.1441, -0.1725, -0.2193]
New: 
translation: [ 1.511, 0.5657, -1.315]
rotation   : [ 0.9494, -0.1441, -0.1725, -0.2193]
\>\>\> Pose mismatch in link "arm1_8": error 0.968888855035 m, 179.999999146 deg
Old: 
translation: [  1.522,  0.5468, -0.3463]
rotation   : [0.03307,   0.277, -0.7733,  0.5694]
New: 
translation: [ 1.511, 0.5657, -1.315]
rotation   : [ 0.9494, -0.1441, -0.1725, -0.2193]
\>\>\> Pose mismatch in link "arm2_1": error 0.93445 m, 0.0 deg
Old: 
translation: [   1.54,  0.2331, -0.3044]
rotation   : [0.07371, -0.3639, -0.3368,  0.8653]
New: 
translation: [  1.54, 0.2331, -1.239]
rotation   : [0.07371, -0.3639, -0.3368,  0.8653]
\>\>\> Pose mismatch in link "arm2_2": error 0.93445 m, 1.20741826973e-06 deg
Old: 
translation: [  1.462,  0.2433, -0.3798]
rotation   : [0.08076, -0.3666, -0.3338,  0.8647]
New: 
translation: [ 1.462, 0.2433, -1.314]
rotation   : [0.08076, -0.3666, -0.3338,  0.8647]
\>\>\> Pose mismatch in link "arm2_3": error 0.93445 m, 0.0 deg
Old: 
translation: [  1.657,   0.163, -0.4842]
rotation   : [ 0.2141, -0.3083, -0.6376,  0.6727]
New: 
translation: [ 1.657,  0.163, -1.419]
rotation   : [ 0.2141, -0.3083, -0.6376,  0.6727]
\>\>\> Pose mismatch in link "arm2_4": error 0.93445 m, 0.0 deg
Old: 
translation: [  1.668,  0.1054, -0.5685]
rotation   : [ 0.2161,   0.653,  0.6369, -0.3482]
New: 
translation: [ 1.668, 0.1054, -1.503]
rotation   : [ 0.2161,   0.653,  0.6369, -0.3482]
\>\>\> Pose mismatch in link "arm2_5": error 0.93445 m, 0.0 deg
Old: 
translation: [  1.735, 0.01974,  -0.547]
rotation   : [-0.4726, -0.4997, -0.4291,  0.5854]
New: 
translation: [  1.735, 0.01974,  -1.481]
rotation   : [-0.4726, -0.4997, -0.4291,  0.5854]
\>\>\> Pose mismatch in link "arm2_6": error 0.93445 m, 0.0 deg
Old: 
translation: [  1.715, -0.1426, -0.5493]
rotation   : [  0.6384,   0.7631, 0.002848,  -0.1009]
New: 
translation: [  1.715, -0.1426,  -1.484]
rotation   : [  0.6384,   0.7631, 0.002848,  -0.1009]
\>\>\> Pose mismatch in link "arm2_7": error 0.93445 m, 1.20741826973e-06 deg
Old: 
translation: [  1.789, -0.1567,  -0.385]
rotation   : [  0.9232,   0.3709, -0.04516, -0.09027]
New: 
translation: [  1.789, -0.1567,  -1.319]
rotation   : [  0.9232,   0.3709, -0.04516, -0.09027]
\>\>\> Pose mismatch in link "arm2_8": error 0.974158744316 m, 180.0 deg
Old: 
translation: [  1.795, -0.1621, -0.3453]
rotation   : [0.03189, 0.09576, -0.3905,   0.915]
New: 
translation: [  1.789, -0.1567,  -1.319]
rotation   : [  0.9232,   0.3709, -0.04516, -0.09027]
\>\>\> Pose mismatch in link "hip1_1": error 0.93445 m, 2.61741876897 deg
Old: 
translation: [    1.37,   0.6437, -0.03296]
rotation   : [-0.2986,  0.2343,  0.9068, -0.1835]
New: 
translation: [   1.37,  0.6437, -0.9674]
rotation   : [-0.2932,  0.2411,  0.9024, -0.2041]
\>\>\> Pose mismatch in link "hip2_1": error 0.931961794711 m, 0.0 deg
Old: 
translation: [   1.333,   0.6623, 0.009038]
rotation   : [-0.2655,  0.8796,  0.3392, -0.2016]
New: 
translation: [  1.331,  0.6634, -0.9229]
rotation   : [-0.2655,  0.8796,  0.3392, -0.2016]
\>\>\> Pose mismatch in link "knee_1": error 0.931961794711 m, 0.0 deg
Old: 
translation: [ 1.236, 0.8492, 0.2227]
rotation   : [ 0.2247,  0.3244, -0.1242,  0.9104]
New: 
translation: [  1.234,  0.8503, -0.7093]
rotation   : [ 0.2247,  0.3244, -0.1242,  0.9104]
\>\>\> Pose mismatch in link "ankle1_1": error 0.931961794711 m, 0.0 deg
Old: 
translation: [  1.334,  0.8822, 0.02443]
rotation   : [ 0.8838, -0.2512, -0.3528, -0.1768]
New: 
translation: [  1.332,  0.8833, -0.9075]
rotation   : [ 0.8838, -0.2512, -0.3528, -0.1768]
\>\>\> Pose mismatch in link "ankle2_1": error 0.931961794711 m, 0.0 deg
Old: 
translation: [  1.334,  0.8822, 0.02443]
rotation   : [  0.3477,   0.8575, -0.03303,   0.3777]
New: 
translation: [  1.332,  0.8833, -0.9075]
rotation   : [  0.3477,   0.8575, -0.03303,   0.3777]
\>\>\> Pose mismatch in link "wheel_1": error 0.933633279539 m, 180.0 deg
Old: 
translation: [  1.482,  0.8078, -0.1428]
rotation   : [  0.6325,  -0.4505, -0.04345,   0.6286]
New: 
translation: [ 1.481, 0.8081, -1.076]
rotation   : [0.04345,  0.6286,  0.6325,  0.4505]
\>\>\> Pose mismatch in link "hip1_2": error 0.93445 m, 2.61741876897 deg
Old: 
translation: [    1.282,    0.4111, -0.007532]
rotation   : [ -0.3789, -0.02283,   0.8001,   0.4645]
New: 
translation: [ 1.282, 0.4111, -0.942]
rotation   : [ -0.3783, -0.03148,   0.7893,   0.4826]
\>\>\> Pose mismatch in link "hip2_2": error 0.931961794711 m, 0.0 deg
Old: 
translation: [  1.245,  0.4297, 0.03447]
rotation   : [-0.5953,  0.6764,    0.23, -0.3678]
New: 
translation: [  1.243,  0.4308, -0.8975]
rotation   : [-0.5953,  0.6764,    0.23, -0.3678]
\>\>\> Pose mismatch in link "knee_2": error 0.931961794711 m, 1.7075472925e-06 deg
Old: 
translation: [ 1.057, 0.4858, 0.2614]
rotation   : [0.2752, 0.3352, 0.6771, 0.5945]
New: 
translation: [  1.055,  0.4869, -0.6706]
rotation   : [0.2752, 0.3352, 0.6771, 0.5945]
\>\>\> Pose mismatch in link "ankle1_2": error 0.931961794711 m, 0.0 deg
Old: 
translation: [0.9517, 0.6711, 0.1937]
rotation   : [ 0.8667,  0.2462, -0.4309, -0.0493]
New: 
translation: [ 0.9495,  0.6722, -0.7382]
rotation   : [ 0.8667,  0.2462, -0.4309, -0.0493]
\>\>\> Pose mismatch in link "ankle2_2": error 0.931961794711 m, 0.0 deg
Old: 
translation: [0.9517, 0.6711, 0.1937]
rotation   : [  0.892,  0.2562,  0.3325, -0.1676]
New: 
translation: [ 0.9495,  0.6722, -0.7382]
rotation   : [  0.892,  0.2562,  0.3325, -0.1676]
\>\>\> Pose mismatch in link "wheel_2": error 0.933660069862 m, 179.999999146 deg
Old: 
translation: [ 1.071, 0.7807, 0.0238]
rotation   : [-0.6133,   0.244,  0.6277,  0.4127]
New: 
translation: [   1.07,  0.7829, -0.9099]
rotation   : [ 0.6277, -0.4127,  0.6133,   0.244]
\>\>\> Pose mismatch in link "hip1_3": error 0.93445 m, 2.61741876885 deg
Old: 
translation: [ 1.718, 0.5502, 0.3145]
rotation   : [ -0.3688, -0.08981,   0.7048,   0.5993]
New: 
translation: [  1.718,  0.5502, -0.6199]
rotation   : [ -0.3667, -0.09821,    0.691,   0.6152]
\>\>\> Pose mismatch in link "hip2_3": error 0.931961794711 m, 0.0 deg
Old: 
translation: [ 1.681, 0.5689, 0.3565]
rotation   : [-0.03939,   0.9204,   0.1299,  -0.3667]
New: 
translation: [  1.678,    0.57, -0.5755]
rotation   : [-0.03939,   0.9204,   0.1299,  -0.3667]
\>\>\> Pose mismatch in link "knee_3": error 0.931961794711 m, 0.0 deg
Old: 
translation: [  1.69,  0.857, 0.4394]
rotation   : [-0.04157,   0.3868,  -0.3627,   0.8468]
New: 
translation: [  1.688,  0.8581, -0.4925]
rotation   : [-0.04157,   0.3868,  -0.3627,   0.8468]
\>\>\> Pose mismatch in link "ankle1_3": error 0.931961794711 m, 0.0 deg
Old: 
translation: [ 1.709, 0.7488, 0.2446]
rotation   : [ 0.8703,  0.3019,  -0.314, -0.2297]
New: 
translation: [  1.707,  0.7499, -0.6874]
rotation   : [ 0.8703,  0.3019,  -0.314, -0.2297]
\>\>\> Pose mismatch in link "ankle2_3": error 0.931961794711 m, 0.0 deg
Old: 
translation: [ 1.709, 0.7488, 0.2446]
rotation   : [-0.758, 0.3596, -0.163, 0.5191]
New: 
translation: [  1.707,  0.7499, -0.6874]
rotation   : [-0.758, 0.3596, -0.163, 0.5191]
\>\>\> Pose mismatch in link "wheel_3": error 0.932921170168 m, 180.0 deg
Old: 
translation: [1.854, 0.906, 0.148]
rotation   : [-0.2138, 0.04632,  -0.742,  0.6337]
New: 
translation: [  1.854,  0.9087, -0.7849]
rotation   : [   0.742,   0.6337,  -0.2138, -0.04632]
\>\>\> Pose mismatch in link "hip1_4": error 0.93445 m, 2.61741876885 deg
Old: 
translation: [  1.63, 0.3177, 0.3399]
rotation   : [ 0.1361, -0.3543, -0.6842,  0.6227]
New: 
translation: [   1.63,  0.3177, -0.5945]
rotation   : [  0.128, -0.3574, -0.6698,  0.6382]
\>\>\> Pose mismatch in link "hip2_4": error 0.931961794711 m, 0.0 deg
Old: 
translation: [ 1.593, 0.3363, 0.3819]
rotation   : [-0.1629,  0.8352, -0.1946, -0.4879]
New: 
translation: [  1.59, 0.3374,  -0.55]
rotation   : [-0.1629,  0.8352, -0.1946, -0.4879]
\>\>\> Pose mismatch in link "knee_4": error 0.931961794711 m, 0.0 deg
Old: 
translation: [ 1.457, 0.5994, 0.3337]
rotation   : [-0.3345,   0.405, -0.1006,   0.845]
New: 
translation: [  1.454,  0.6005, -0.5982]
rotation   : [-0.3345,   0.405, -0.1006,   0.845]
\>\>\> Pose mismatch in link "ankle1_4": error 0.931961794711 m, 0.0 deg
Old: 
translation: [ 1.512, 0.4627, 0.1654]
rotation   : [ 0.5124,  0.6794,  -0.493, -0.1814]
New: 
translation: [   1.51,  0.4638, -0.7665]
rotation   : [ 0.5124,  0.6794,  -0.493, -0.1814]
\>\>\> Pose mismatch in link "ankle2_4": error 0.931961794711 m, 0.0 deg
Old: 
translation: [ 1.512, 0.4627, 0.1654]
rotation   : [ -0.6588,  -0.4419, -0.09306,   0.6017]
New: 
translation: [   1.51,  0.4638, -0.7665]
rotation   : [ -0.6588,  -0.4419, -0.09306,   0.6017]
\>\>\> Pose mismatch in link "wheel_4": error 0.932577104941 m, 180.0 deg
Old: 
translation: [ 1.416, 0.6685,  0.104]
rotation   : [-0.1787, -0.3359,  0.5615,  0.7348]
New: 
translation: [  1.413,  0.6716, -0.8285]
rotation   : [-0.5615,  0.7348, -0.1787,  0.3359]

[EnricoMingo]

I don't understand why there are these errors since I just took the same xacro from the old repo... So for what concern the joint limits I suppose there is a sort of scaling or alternative values since most of them are different. For the pose of the links I see a constant 0.93... m error on the z and this should be the height which is used to place the robot in gazebo. For the orientation as well I see some ~0 to ~180 deg which I don't understand in this case.

[alaurenzi]

I would use this URDF as baseline. @liesrock do you agree?

[liesrock]

I do not see the FT joints for the above URDF: should I generate a new one or do you have any alternatives?

[alaurenzi]

Right...because it's the one we use for the robot. However, except for this, in terms of kinematics it should be the most up to date, right?

[liesrock]

yes correct!

[alaurenzi]

I set pelvis as reference for pose comparisons (so that the fixed world - pelvis offset does not affect all measurements), and also added twist comparisons (which are good)

Checking poses... 
\>\>\> Pose mismatch in link "world": error 0.93445 m, 1.20741826973e-06 deg
Old: 
translation: [ 3.126, -1.522,  2.206]
rotation   : [  0.877, -0.1568, -0.4042,  0.2072]
New: 
translation: [ 2.403, -1.743,  1.658]
rotation   : [  0.877, -0.1568, -0.4042,  0.2072]
\>\>\> Pose mismatch in link "arm1_8": error 0.0405 m, 180.0 deg
Old: 
translation: [ 0.8894, 0.01411,   0.155]
rotation   : [  0.804,  0.2886,   0.474, -0.2136]
New: 
translation: [  0.8635, -0.01088,   0.1736]
rotation   : [ 0.4862, -0.1842, -0.3645,  0.7726]
\>\>\> Twist mismatch in link "arm1_8": error is 0.0926670994888
Old: 
[-0.24754931  0.35876708  0.36897771 -1.40888432  3.60232126 -0.89294139]
New: 
[-0.16353423  0.39516493  0.38325549 -1.40888432  3.60232126 -0.89294139]
\>\>\> Pose mismatch in link "arm2_8": error 0.0405 m, 180.0 deg
Old: 
translation: [ 0.2196, -0.7976,  0.1532]
rotation   : [  0.9532,  -0.1254, 0.008719,    0.275]
New: 
translation: [ 0.2217, -0.7763,  0.1875]
rotation   : [-0.1883, -0.2006, -0.7627,  0.5854]
\>\>\> Twist mismatch in link "arm2_8": error is 0.076413909104
Old: 
[ 1.72627472  0.82242625 -0.01644256 -4.11026323  1.04015053 -1.73739539]
New: 
[ 1.69515433  0.76452129  0.02251411 -4.11026323  1.04015053 -1.73739539]
\>\>\> Pose mismatch in link "hip1_1": error 6.66133814775e-16 m, 2.61741876897 deg
Old: 
translation: [   0.25,   0.125, -0.0566]
rotation   : [     0.821,      0.571,  1.036e-14, -1.028e-13]
New: 
translation: [   0.25,   0.125, -0.0566]
rotation   : [    0.8338,     0.5521,   1.27e-14, -1.026e-13]
\>\>\> Pose mismatch in link "hip2_1": error 0.0035 m, 0.0 deg
Old: 
translation: [   0.25,   0.125, -0.1156]
rotation   : [-0.2717, -0.6528, -0.3191,   0.631]
New: 
translation: [   0.25,   0.125, -0.1191]
rotation   : [-0.2717, -0.6528, -0.3191,   0.631]
\>\>\> Twist mismatch in link "hip2_1": error is 0.00440680757818
Old: 
[ 0.81503706  1.06460016  0.71145005  0.25791352  0.18079563  0.96451036]
New: 
[ 0.81771474  1.06398863  0.70800389  0.25791352  0.18079563  0.96451036]
\>\>\> Pose mismatch in link "knee_1": error 0.0035 m, 0.0 deg
Old: 
translation: [  0.4796,   0.3169, -0.09349]
rotation   : [  0.5417,   0.4545, 0.007182,   0.7071]
New: 
translation: [  0.4796,   0.3169, -0.09699]
rotation   : [  0.5417,   0.4545, 0.007182,   0.7071]
\>\>\> Twist mismatch in link "knee_1": error is 0.0044068075779
Old: 
[ 0.94580244  1.16801547  0.65709792  1.          0.7677352   0.64076725]
New: 
[ 0.94848011  1.16740394  0.65365176  1.          0.7677352   0.64076725]
\>\>\> Pose mismatch in link "ankle1_1": error 0.0035 m, 0.0 deg
Old: 
translation: [ 0.5318,  0.4935, -0.2205]
rotation   : [-0.3585, -0.6095, -0.2296,  0.6688]
New: 
translation: [0.5318, 0.4935, -0.224]
rotation   : [-0.3585, -0.6095, -0.2296,  0.6688]
\>\>\> Twist mismatch in link "ankle1_1": error is 0.00440680757783
Old: 
[ 1.0813227   1.1988068   0.40870843  0.25791352  0.18079563  0.96451036]
New: 
[ 1.08400037  1.19819528  0.40526226  0.25791352  0.18079563  0.96451036]
\>\>\> Pose mismatch in link "ankle2_1": error 0.0035 m, 0.0 deg
Old: 
translation: [ 0.5318,  0.4935, -0.2205]
rotation   : [-0.09969,  0.01146,  -0.6768,   0.7293]
New: 
translation: [0.5318, 0.4935, -0.224]
rotation   : [-0.09969,  0.01146,  -0.6768,   0.7293]
\>\>\> Twist mismatch in link "ankle2_1": error is 0.00440680757783
Old: 
[ 1.0813227   1.1988068   0.40870843 -0.33594011  0.532479    0.2408691 ]
New: 
[ 1.08400037  1.19819528  0.40526226 -0.33594011  0.532479    0.2408691 ]
\>\>\> Pose mismatch in link "wheel_1": error 0.00128599472983 m, 180.0 deg
Old: 
translation: [  0.5682,   0.5241, 0.009644]
rotation   : [-0.5591,  -0.327,  0.6812,  0.3411]
New: 
translation: [  0.5686,   0.5244, 0.008447]
rotation   : [ 0.6812, -0.3411,  0.5591,  -0.327]
\>\>\> Twist mismatch in link "wheel_1": error is 0.00369681300859
Old: 
[ 0.97060494  1.10800988  0.45501124  0.35393542  0.29223361 -0.44203199]
New: 
[ 0.97217804  1.10649093  0.45203055  0.35393542  0.29223361 -0.44203199]
\>\>\> Pose mismatch in link "hip1_2": error 0.0 m, 2.61741876897 deg
Old: 
translation: [   0.25,  -0.125, -0.0566]
rotation   : [    0.9952,    0.09752,  5.876e-14, -8.499e-14]
New: 
translation: [   0.25,  -0.125, -0.0566]
rotation   : [    0.9927,     0.1202,  5.677e-14, -8.633e-14]
\>\>\> Pose mismatch in link "hip2_2": error 0.0035 m, 0.0 deg
Old: 
translation: [   0.25,  -0.125, -0.1156]
rotation   : [ 0.2605, -0.6574,  0.6701, -0.2258]
New: 
translation: [   0.25,  -0.125, -0.1191]
rotation   : [ 0.2605, -0.6574,  0.6701, -0.2258]
\>\>\> Twist mismatch in link "hip2_2": error is 0.00440680757818
Old: 
[ 0.87791603  1.04944482  0.64925206  1.74098641  1.35843099  0.32136526]
New: 
[ 0.8805937   1.0488333   0.6458059   1.74098641  1.35843099  0.32136526]
\>\>\> Pose mismatch in link "knee_2": error 0.0035 m, 0.0 deg
Old: 
translation: [ 0.2357, -0.1324, -0.4152]
rotation   : [-0.6734, -0.2156,  0.2705,  0.6533]
New: 
translation: [ 0.2357, -0.1324, -0.4187]
rotation   : [-0.6734, -0.2156,  0.2705,  0.6533]
\>\>\> Twist mismatch in link "knee_2": error is 0.00440680757779
Old: 
[ 1.17899892  0.78098474  0.15294229  1.          0.7677352   0.64076725]
New: 
[ 1.18167659  0.78037321  0.14949613  1.          0.7677352   0.64076725]
\>\>\> Pose mismatch in link "ankle1_2": error 0.0035 m, 0.0 deg
Old: 
translation: [  0.4526, -0.08004,  -0.4317]
rotation   : [0.06994,  0.7036, -0.4919,   0.508]
New: 
translation: [  0.4526, -0.08004,  -0.4352]
rotation   : [0.06994,  0.7036, -0.4919,   0.508]
\>\>\> Twist mismatch in link "ankle1_2": error is 0.00440680757807
Old: 
[ 1.09723449  1.03016982 -0.01801484  1.74098641  1.35843099  0.32136526]
New: 
[ 1.09991217  1.02955829 -0.021461    1.74098641  1.35843099  0.32136526]
\>\>\> Pose mismatch in link "ankle2_2": error 0.0035 m, 0.0 deg
Old: 
translation: [  0.4526, -0.08004,  -0.4317]
rotation   : [ 0.8413,   0.429, -0.3201, 0.07527]
New: 
translation: [  0.4526, -0.08004,  -0.4352]
rotation   : [ 0.8413,   0.429, -0.3201, 0.07527]
\>\>\> Twist mismatch in link "ankle2_2": error is 0.00440680757807
Old: 
[ 1.09723449  1.03016982 -0.01801484  2.12741982  1.37233761  1.24357773]
New: 
[ 1.09991217  1.02955829 -0.021461    2.12741982  1.37233761  1.24357773]
\>\>\> Pose mismatch in link "wheel_2": error 0.00553754371728 m, 180.0 deg
Old: 
translation: [ 0.3418, -0.1749,  -0.616]
rotation   : [-0.5503, -0.3509,  0.2417,   0.718]
New: 
translation: [ 0.3407, -0.1758, -0.6213]
rotation   : [-0.2417,   0.718, -0.5503,  0.3509]
\>\>\> Twist mismatch in link "wheel_2": error is 0.00834307060898
Old: 
[ 1.3897577   0.68360103 -0.13598921  2.97793186  1.75376054  0.88143713]
New: 
[ 1.39536887  0.67950828 -0.14061209  2.97793186  1.75376054  0.88143713]
\>\>\> Pose mismatch in link "hip1_3": error 0.0 m, 2.61741876885 deg
Old: 
translation: [  -0.25,   0.125, -0.0566]
rotation   : [   0.8237,    -0.567, 9.877e-15, 1.028e-13]
New: 
translation: [  -0.25,   0.125, -0.0566]
rotation   : [   0.8364,   -0.5481, 1.226e-14, 1.026e-13]
\>\>\> Pose mismatch in link "hip2_3": error 0.0035 m, 0.0 deg
Old: 
translation: [  -0.25,   0.125, -0.1156]
rotation   : [ 0.1306,  0.6949, -0.6161,  -0.347]
New: 
translation: [  -0.25,   0.125, -0.1191]
rotation   : [ 0.1306,  0.6949, -0.6161,  -0.347]
\>\>\> Twist mismatch in link "hip2_3": error is 0.00440680757818
Old: 
[ 1.29896365  0.91015965  1.12310426  0.93749337  1.49919031  1.31978591]
New: 
[ 1.30164133  0.90954813  1.1196581   0.93749337  1.49919031  1.31978591]
\>\>\> Pose mismatch in link "knee_3": error 0.0035 m, 0.0 deg
Old: 
translation: [-0.3215,  0.1898, -0.3997]
rotation   : [-0.6932,  0.1395,  -0.339,  0.6205]
New: 
translation: [-0.3215,  0.1898, -0.4032]
rotation   : [-0.6932,  0.1395,  -0.339,  0.6205]
\>\>\> Twist mismatch in link "knee_3": error is 0.00440680757818
Old: 
[ 1.85670513  0.86091244  0.7828612   1.          0.7677352   0.64076725]
New: 
[ 1.85938281  0.86030092  0.77941504  1.          0.7677352   0.64076725]
\>\>\> Pose mismatch in link "ankle1_3": error 0.0035 m, 0.0 deg
Old: 
translation: [  -0.2397, -0.009745,   -0.3403]
rotation   : [ 0.4755, -0.5233, 0.09488,  0.7007]
New: 
translation: [  -0.2397, -0.009745,   -0.3438]
rotation   : [ 0.4755, -0.5233, 0.09488,  0.7007]
\>\>\> Twist mismatch in link "ankle1_3": error is 0.00440680757818
Old: 
[ 1.69397116  0.9766896   0.89811016  0.93749337  1.49919031  1.31978591]
New: 
[ 1.69664884  0.97607808  0.894664    0.93749337  1.49919031  1.31978591]
\>\>\> Pose mismatch in link "ankle2_3": error 0.0035 m, 0.0 deg
Old: 
translation: [  -0.2397, -0.009745,   -0.3403]
rotation   : [ 0.2922, 0.05267,  0.6106,  0.7341]
New: 
translation: [  -0.2397, -0.009745,   -0.3438]
rotation   : [ 0.2922, 0.05267,  0.6106,  0.7341]
\>\>\> Twist mismatch in link "ankle2_3": error is 0.00440680757818
Old: 
[ 1.69397116  0.9766896   0.89811016  0.83946624  2.17175028  0.58626443]
New: 
[ 1.69664884  0.97607808  0.894664    0.83946624  2.17175028  0.58626443]
\>\>\> Pose mismatch in link "wheel_3": error 0.00205503781138 m, 179.999999146 deg
Old: 
translation: [ -0.1384, -0.09539,  -0.1463]
rotation   : [-0.5169,  0.6925, -0.3384,  0.3725]
New: 
translation: [ -0.1374, -0.09625,  -0.1479]
rotation   : [-0.3384, -0.3725,  0.5169,  0.6925]
\>\>\> Twist mismatch in link "wheel_3": error is 0.00266125412562
Old: 
[ 1.22748473  1.10718609  1.082658   -0.05550934  2.43450752  0.94678816]
New: 
[ 1.2254922   1.10788656  1.08103892 -0.05550934  2.43450752  0.94678816]
\>\>\> Pose mismatch in link "hip1_4": error 4.4408920985e-16 m, 2.61741876885 deg
Old: 
translation: [  -0.25,  -0.125, -0.0566]
rotation   : [    0.7293,     0.6842, -2.519e-14,  1.002e-13]
New: 
translation: [  -0.25,  -0.125, -0.0566]
rotation   : [    0.7447,     0.6674, -2.746e-14,  9.962e-14]
\>\>\> Pose mismatch in link "hip2_4": error 0.0035 m, 0.0 deg
Old: 
translation: [  -0.25,  -0.125, -0.1156]
rotation   : [  0.679, -0.1975,  -0.678, -0.2007]
New: 
translation: [  -0.25,  -0.125, -0.1191]
rotation   : [  0.679, -0.1975,  -0.678, -0.2007]
\>\>\> Twist mismatch in link "hip2_4": error is 0.00440680757818
Old: 
[ 1.36184262  0.89500431  1.06090628  0.23575792  0.3908211   1.16409297]
New: 
[ 1.36452029  0.89439279  1.05746011  0.23575792  0.3908211   1.16409297]
\>\>\> Pose mismatch in link "knee_4": error 0.0035 m, 0.0 deg
Old: 
translation: [-0.4091, -0.3794,  -0.117]
rotation   : [  0.5728,  -0.4146,    0.706, -0.03926]
New: 
translation: [-0.4091, -0.3794, -0.1205]
rotation   : [  0.5728,  -0.4146,    0.706, -0.03926]
\>\>\> Twist mismatch in link "knee_4": error is 0.00440680757818
Old: 
[ 1.15857033  0.86811505  1.11110153  1.          0.7677352   0.64076725]
New: 
[ 1.16124801  0.86750352  1.10765537  1.          0.7677352   0.64076725]
\>\>\> Pose mismatch in link "ankle1_4": error 0.0035 m, 0.0 deg
Old: 
translation: [-0.5615, -0.4313, 0.03827]
rotation   : [ -0.459,  0.5378,  0.6769, -0.2045]
New: 
translation: [-0.5615, -0.4313, 0.03477]
rotation   : [ -0.459,  0.5378,  0.6769, -0.2045]
\>\>\> Twist mismatch in link "ankle1_4": error is 0.00440680757818
Old: 
[ 1.10048141  0.71879647  1.38066283  0.23575792  0.3908211   1.16409297]
New: 
[ 1.10315909  0.71818494  1.37721667  0.23575792  0.3908211   1.16409297]
\>\>\> Pose mismatch in link "ankle2_4": error 0.0035 m, 0.0 deg
Old: 
translation: [-0.5615, -0.4313, 0.03827]
rotation   : [-0.1658,  0.8205, -0.3926, -0.3809]
New: 
translation: [-0.5615, -0.4313, 0.03477]
rotation   : [-0.1658,  0.8205, -0.3926, -0.3809]
\>\>\> Twist mismatch in link "ankle2_4": error is 0.00440680757818
Old: 
[ 1.10048141  0.71879647  1.38066283  0.52649452  0.91378834  1.96532794]
New: 
[ 1.10315909  0.71818494  1.37721667  0.52649452  0.91378834  1.96532794]
\>\>\> Pose mismatch in link "wheel_4": error 0.00493727041338 m, 180.0 deg
Old: 
translation: [ -0.6783,  -0.6119, -0.05651]
rotation   : [  0.487, -0.0616,  0.6585,  0.5704]
New: 
translation: [ -0.6794,  -0.6137, -0.06096]
rotation   : [ 0.6585, -0.5704,  -0.487, -0.0616]
\>\>\> Twist mismatch in link "wheel_4": error is 0.00396479116747
Old: 
[ 1.03270959  0.75316459  1.3828387   0.22189628  0.17053661  2.56097614]
New: 
[ 1.03469251  0.75290451  1.37941526  0.22189628  0.17053661  2.56097614]

To recap, main discrepancies are:

• armX_8: 4cm, 180deg offset
• hipX_1: 2deg offset
• wheel_X: 180deg offset

The rest looks due to rounding