josh_jhu Posted December 15, 2016 Share Posted December 15, 2016 I think this is a fitting first question for the forum. I have been having some issues where I run a script one day and it works fine, then I come in the next day (after having shut off sawyer the previous night) and start sawyer back up and rerun the same script and I get a significantly different output. My script only uses two types of data: images, and the robot (base -> hand) transformation that the image was acquired with. Essentially I have sawyer run through a fixed set of poses (defined as a list of joint angles), and at each pose I capture an image and record the base -> hand transformation for that pose. I had the robot run through the same set of poses both days and manually verified that the captured images were the same as the previous day. So before I start accusing people of tampering with my code overnight, I wonder if Sawyer does any redefining of reference frames on start up? Perhaps based on the orientation the joints have when the system is powered on? Any help is appreciated, -Josh Link to comment Share on other sites More sharing options...
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