Forums Niryo One Troubleshooting Move Pose error

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    Posts
  • FindingNiryo
    Participant
    Post count: 105

    Move Pose (0.22,-.194,-0.11,0,0,0)
    yields X axis error of 7mm
    x : 0.213
    y : -0.194
    z : -0.011
    Move Pose (0.3,-.194,0.1,0,0,0)
    yields X axis error of 7mm
    x : 0.293
    y : -0.194
    z : 0.100
    Move Pose (0.3,0.2,0.1,0,0,0)
    yields X axis error of 7mm
    x : 0.293
    y : 0.200
    z : 0.100

    FindingNiryo
    Participant
    Post count: 105

    Move Pose (0,0.257,0.1,0,0,0.157)
    yields Y axis error of 7mm
    x : 0.000
    y : 0.250
    z : 0.100

    Edouard Renard
    Keymaster
    Post count: 239

    Thanks for noticing that.

    I can confirm the offset of 7 mm between the command and the measured joint states (even with the simulation).

    I’ve added that to our backlog and we’ll investigate to fix it. I am quite sure this is related to this issue. Coordinates in the model are correct, but maybe the command does not take the tool base offset into account.

    Edouard Renard
    Keymaster
    Post count: 239

    The issue has been fixed with this commit. It will be released with the next Niryo One Raspberry Pi image (v 2.2.0).

    In fact the move_pose command was correctly doing its job. The problem came from how we measure the pose of the robot from the current state. We didn’t take into account the 7mm between the hand and the tool frame.

    Thanks again @findingniryo!

    FindingNiryo
    Participant
    Post count: 105

    Thank you. When is V 2.2.0 scheduled for release?

    Edouard Renard
    Keymaster
    Post count: 239

    We will certainly release V2.2.0 in July, with all the new stuff already implemented. We also plan to release a V2.3.0 for the end of the summer for everything we didn’t have time for V2.2.0 (for example: fixing the bug which sometimes stops trajectories)

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