I am facing different issues with the latest release of the jacobi Python library. Here are the two that I could notice so far:
It seems like the
Robot.set_base()
import jacobi
r = jacobi.robots.UniversalUR10()
r.set_base(jacobi.Frame(x=1))
AttributeError: 'jacobi.robots.UniversalUR10' object has no attribute 'set_base'
The planner seems to sometimes output trajectories with duplicate points. For example:
...
---------------------------------------
delta_time: 0.56
[
pos:[0.3645631903549399, -1.3499699545987047, 1.9407129751035896, -2.1932749051672698, -1.5749572201786464, -1.2576011030217746],
]
---------------------------------------
delta_time: 0.56
[
pos:[0.3645631903549399, -1.3499699545987047, 1.9407129751035896, -2.1932749051672698, -1.5749572201786464, -1.2576011030217746],
]
---------------------------------------
...
The only solution I found was to rollback to v0.032.
1 month ago
Thanks for lettgin us know!
as for 1. Let me ask our engineering team to see if they have any insight on this.
as for 2. I'm having the team take a quick look at the planner. In the meantinme would you be able to provide a little bit more context as to how you got the output trajectories with duplicate points? Does it happen on any trajectory generation? Which robots are you working with? (and would you be able to share some more details around the project you are seeing this with?)
0 1 month ago Reply
Unfortunately, I don't have much info. I can try to get back to you later (but I'll be on vacation very soon.)
From what I remember, I'm 95% sure it was a linear motion though, and that the amplitude of the motion itself was quite small (a few centimeters).
Hopefully, that helps a bit.
0 1 month ago Reply
Some more details after I was able to reproduce the problem in a minimal script (see below):
0 1 month ago Reply
@Alban Laflaquiere:
Fantastic! Thanks for all this information!
has been changed toset_base
as a property, and would need to be changed as such in the code.base
As for 2.
Looks like that indeed is a bug! Seems that we have tuned one of our internal parameters a bit too much which is causing some joint positions to duplicate due to generated waypoints being too close together. As I understand this shouldn't effect normal operation, and we will have a fix for it in next patch!
0 1 month ago Reply
@Alban Laflaquiere: with regards to the
toset_base
change. Here is the updated documentation that reflects that change. Let me know if that helps move you to the next version!base
0 1 month ago Reply