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BerkeleyAutomation / yumipy

Python control interface for interacting with the ABB YuMi Robot
Apache License 2.0
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Discrepancy with Yumi Pose and Yumi State while using yumipy #29

Open kvdeepak opened 5 years ago

kvdeepak commented 5 years ago

Hi,

While working with Yumi IRB 14000 robot, I found some discrepancies between the pose and state that yumipy returns. To verify this discrepancy, the following steps can be followed: 1) Go to pose T using goto_pose(T) 2) Extract current state S using get_state(). 3) Execute goto_state(S) Ideally, the robot should not have moved at all, but the resulting pose was wildly inaccurate. I observed that only one of the joints (joint 7) was moving when I was executing the 3rd step.

This issue does not occur with all poses. But it consistently occurs for this particular pose in the robot I am working with. Pose: Translation : [0.42991, 0.1439, 0.13248] Rotation: [ 0.06497447, 0.83567165, -0.12095248, 0.53179105]

code snippet: yumi_state_and_pose_discrepancy.txt

I am not sure how this is going wrong. Any help is much appreciated!

Best Regards, Deepak Kala Vasudevan

kvdeepak commented 5 years ago

I see that there is some discrepancy in the joint poses.

After going to position T, Get state returns: yumipy:[-65.18, -119.06, 42.5, 196.38, 23.46, 137.71, 135.0] flexpendant:[-65.18, -119.06, 42.5, -163.62, 23.46, 137.71, 78.57]

After executing goto state, and then running get state: Goto: yumipy: [-65.18, -119.06, 42.5, 196.38, 23.46, 137.71, 135.0] flexpendant:[-65.18, -119.06, 42.5, 196.38, 23.46, 137.71, 135.0]