Bug Report: Incorrect Offset Application in EE Commands and Configurations
Description
In our codebase, while the ee_frame_offset is accurately applied when retrieving the end-effector (EE) position, it appears not to be correctly handled in two specific scenarios:
Sending EE Commands to MoveIt: When the control type is set to end-effector, the offset seems to be improperly applied, potentially leading to inaccuracies in the command execution.
Due to current time constraints, a detailed examination and fix of this issue are beyond my current capacity.
[!IMPORTANT]
This problem is also present when the hand is attached and control_type is set to end-effector because we automatically apply the offset of the panda_EE frame (see panda_env.py#L411-L432).
Upon reaching the breakpoint, verify if the EE_frame aligns with the specified ee_position at the function's start.
Anomalies have been noted, especially when the panda arm's rotation causes an inverse application of the offset.
Expected Behavior
The system should accurately apply the ee_frame_offset in all scenarios, ensuring that the end-effector's position and orientation are correctly calculated relative to the specified offset, even when the control type is end-effector and during the retrieval of the EE joint configuration.
System Information
OS: Ubuntu 20.04
Version: v2.0.0
Additional Context
This issue is critical for ensuring accurate end-effector positioning and movement, particularly in precise manipulation tasks. Immediate attention to rectify these discrepancies is highly recommended.
Bug Report: Incorrect Offset Application in EE Commands and Configurations
Description
In our codebase, while the
ee_frame_offset
is accurately applied when retrieving the end-effector (EE) position, it appears not to be correctly handled in two specific scenarios:Sending EE Commands to MoveIt: When the control type is set to
end-effector
, the offset seems to be improperly applied, potentially leading to inaccuracies in the command execution.Retrieving EE Joint Configuration: The retrieval of the EE joint configuration might not correctly account for the offset.
Due to current time constraints, a detailed examination and fix of this issue are beyond my current capacity.
Reproduction Steps
control_type
toend-effector
.EE_frame
aligns with the specifiedee_position
at the function's start.Expected Behavior
The system should accurately apply the
ee_frame_offset
in all scenarios, ensuring that the end-effector's position and orientation are correctly calculated relative to the specified offset, even when the control type isend-effector
and during the retrieval of the EE joint configuration.System Information
Additional Context
This issue is critical for ensuring accurate end-effector positioning and movement, particularly in precise manipulation tasks. Immediate attention to rectify these discrepancies is highly recommended.