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anki / cozmo-python-sdk

Anki Cozmo Python SDK
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After pickup_object, Cozmo drives backwards whenever you lower the lift arms #204

Closed Zordid closed 5 years ago

Zordid commented 5 years ago

We have a program that picks up a cube at the end of the program.

This leaves Cozmo in a "cube is picked up" state - apparently.

To have a clean start at the beginning of our program, we set the lift to position 0 and reset the head angle to 0 using these commands:

robot.set_lift_height(0.0).wait_for_completed()
robot.set_head_angle(degrees(0)).wait_for_completed()

Now, whenever Cozmo had the cube picked up during the run before, the command issued to lower the lifts ALSO moves Cozmo backwards a few cm! This is not only annoying, it is really destroying the purpose of the program.

Between two runs of our Python script, there should be no remainders of knowledge about the previous run - but Cozmo falsely "remembers" the pickup command before. Of course we don't let the cube dangling on the lift, so he does not hold anything anymore, but still drives backwards.

Is this a known bug? It should be fixed! And how do I reset everything to default position at the start of a program if not doing as I do?

msintov commented 5 years ago

Hi @Zordid ,

Thank you for letting us know about this issue. In order for us to investigate, it would be ideal if you could provide to us the script you are running so we can duplicate the problem. I think the best place for us to look into this futher would be if you could open a new forum post.

I'm going to close this issue for now in hopes that we can discuss this with you on the forum.

Thank you!

Michelle