send_angles does not behave as I thought it would

[michelle-aa-robotics-photonics]

Describe the bug I am starting at a joint position of [-12.21, -70.48, -71.19, -32.51, -104.94, 3.6] for a 6-DOF cobot Raspberry Pi. I then send send_angles([[-7.82, -85.69, -26.63, -65.47, -95.36, 3.6]), in the understanding that it will decrease or increase the corresponding joint to achieve this new position. However, when I do this, joint 5 increases instead of decreases and the bot ends up getting stuck at -105 degrees. Am I understanding something wrong or is this buggy behavior that needs to be fixed?

To Reproduce Steps to reproduce the behavior:

1. Move bot to [-12.21, -70.48, -71.19, -32.51, -104.94, 3.6]
2. Send send_angles([[-7.82, -85.69, -26.63, -65.47, -95.36, 3.6]
3. See bot increase joint 5

Expected behavior All joints should increase or decrease based on the numerical diff between current and target position.

Screenshots If applicable, add screenshots to help explain your problem.

Desktop (please complete the following information):

• OS: Raspberry Pi Ubuntu 18.04
• Browser [e.g. chrome, safari]
• Version [e.g. 22]

Smartphone (please complete the following information):

• Device: [e.g. iPhone6]
• OS: [e.g. iOS8.1]
• Browser [e.g. stock browser, safari]
• Version [e.g. 22]

Additional context Add any other context about the problem here.

[anla-xu]

From the two sets of data you sent, J5 of the first set is -104.94, and J5 of the second set is -95.36. It is normal for the value to increase from -104.94 to -95.36. I don't understand your question. Please provide more detailed information.

[michelle-aa-robotics-photonics]

Hi, I'm sorry! That was two typos -- J5 decreased, and it got stuck at -150 (not 105).

[anla-xu]

After sending this set of data [-7.82, -85.69, -26.63, -65.47, -95.36, 3.6], does the robot move? And after the movement is over, please use get_angles to read the data to see what it is

[michelle-aa-robotics-photonics]

After turning the bot off and on again, the bot does move! It curls up into itself and it is stuck like the below picture. I used get_angles() and it returned [-7.47, -44.38, -16.34, -65.83, 45.87, 4.48] I think this is because I have re-calibrated a new bot since submitting this error and it probably has very different joint angles from default settings.

[michelle-aa-robotics-photonics]

I just tried to re-calibrate to set new zero position, but the bot did not move at all during the calibration routine.

[michelle-aa-robotics-photonics]

I finally fixed this by closing the test tool and re-opening b/c I had accidentally set the connection type to M5 instead of Raspberry Pi. After resetting the angles, I managed to send one successful send_angles() command:

mc.get_angles() = [111.88, -68.37, -39.55, -63.45, -158.11]
mc.send_angles([115.57, -27.68, -112.32, -47.98, -147.04, 3.51], 1)

produced this video!!!

https://github.com/elephantrobotics/pymycobot/assets/173008148/5f73890d-6a06-41c0-a3e2-db5705f2508e

However, after that I no longer got any response after trying to send:

mc.send_angles([115.57, -27.68, -112.32, -45, -147.04, 3.51], 1)
mc.send_angles([115.57, -27.68, -112.32, -41, -147.04, 3.51], 1)

This is the problem I keep running into. The bot responds to this command once and then never again. What am I doing wrong?

[anla-xu]

Please set the angle to zero send_angles([0,0,0,0,0,0], 20). After the movement is over, it is normally in a straight state, and the depressions at the joints are close to alignment. Please provide me with a picture.