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Issue on the mobile base translation #470

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ClaireHzl opened this issue Jan 8, 2025 · 1 comment · May be fixed by #474
Open

Issue on the mobile base translation #470

ClaireHzl opened this issue Jan 8, 2025 · 1 comment · May be fixed by #474
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@ClaireHzl

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@ClaireHzl
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ClaireHzl commented Jan 8, 2025 •
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After connecting to SDK then moving Reachy by hand (rotate by - 90° and move forward by few centimeters), then :

get_to_waiting_pose(reachy, duration=3)
reachy.mobile_base.translate_by(x= 0.2, y= 0.0)

No movement, and this error :

Cell In[4], [line 3](vscode-notebook-cell:?execution_count=4&line=3)
      [1](vscode-notebook-cell:?execution_count=4&line=1) reachy.turn_on()
      [2](vscode-notebook-cell:?execution_count=4&line=2) get_to_waiting_pose(reachy, duration=3)
----> [3](vscode-notebook-cell:?execution_count=4&line=3) reachy.mobile_base.translate_by(x= 0.2, y= 0.0)

File ~/Dev/reachy2-sdk/src/reachy2_sdk/parts/mobile_base.py:389, in MobileBase.translate_by(self, x, y, timeout)
    [387](https://file+.vscode-resource.vscode-cdn.net/home/claire/Dev/trailer/~/Dev/reachy2-sdk/src/reachy2_sdk/parts/mobile_base.py:387) x_goal = x_current + (x * np.cos(theta_rad) - y * np.sin(theta_rad))
    [388](https://file+.vscode-resource.vscode-cdn.net/home/claire/Dev/trailer/~/Dev/reachy2-sdk/src/reachy2_sdk/parts/mobile_base.py:388) y_goal = y_current + (x * np.sin(theta_rad) + y * np.cos(theta_rad))
--> [389](https://file+.vscode-resource.vscode-cdn.net/home/claire/Dev/trailer/~/Dev/reachy2-sdk/src/reachy2_sdk/parts/mobile_base.py:389) self.goto(x_goal, y_goal, theta, timeout=timeout)

File ~/Dev/reachy2-sdk/src/reachy2_sdk/parts/mobile_base.py:287, in MobileBase.goto(self, x, y, theta, timeout, tolerance)
    [285](https://file+.vscode-resource.vscode-cdn.net/home/claire/Dev/trailer/~/Dev/reachy2-sdk/src/reachy2_sdk/parts/mobile_base.py:285)     exec.submit(_wrapped_goto)
    [286](https://file+.vscode-resource.vscode-cdn.net/home/claire/Dev/trailer/~/Dev/reachy2-sdk/src/reachy2_sdk/parts/mobile_base.py:286) if not exc_queue.empty():
--> [287](https://file+.vscode-resource.vscode-cdn.net/home/claire/Dev/trailer/~/Dev/reachy2-sdk/src/reachy2_sdk/parts/mobile_base.py:287)     raise exc_queue.get()

File ~/Dev/reachy2-sdk/src/reachy2_sdk/parts/mobile_base.py:272, in MobileBase.goto.<locals>._wrapped_goto()
    [270](https://file+.vscode-resource.vscode-cdn.net/home/claire/Dev/trailer/~/Dev/reachy2-sdk/src/reachy2_sdk/parts/mobile_base.py:270) def _wrapped_goto() -> None:
    [271](https://file+.vscode-resource.vscode-cdn.net/home/claire/Dev/trailer/~/Dev/reachy2-sdk/src/reachy2_sdk/parts/mobile_base.py:271)     try:
--> [272](https://file+.vscode-resource.vscode-cdn.net/home/claire/Dev/trailer/~/Dev/reachy2-sdk/src/reachy2_sdk/parts/mobile_base.py:272)         asyncio.run(
    [273](https://file+.vscode-resource.vscode-cdn.net/home/claire/Dev/trailer/~/Dev/reachy2-sdk/src/reachy2_sdk/parts/mobile_base.py:273)             self._goto_async(
    [274](https://file+.vscode-resource.vscode-cdn.net/home/claire/Dev/trailer/~/Dev/reachy2-sdk/src/reachy2_sdk/parts/mobile_base.py:274)                 x=x,
    [275](https://file+.vscode-resource.vscode-cdn.net/home/claire/Dev/trailer/~/Dev/reachy2-sdk/src/reachy2_sdk/parts/mobile_base.py:275)                 y=y,
    [276](https://file+.vscode-resource.vscode-cdn.net/home/claire/Dev/trailer/~/Dev/reachy2-sdk/src/reachy2_sdk/parts/mobile_base.py:276)                 theta=theta,
...
    [316](https://file+.vscode-resource.vscode-cdn.net/home/claire/Dev/trailer/~/Dev/reachy2-sdk/src/reachy2_sdk/parts/mobile_base.py:316)     theta_goal=FloatValue(value=deg2rad(theta)),
    [317](https://file+.vscode-resource.vscode-cdn.net/home/claire/Dev/trailer/~/Dev/reachy2-sdk/src/reachy2_sdk/parts/mobile_base.py:317) )
    [318](https://file+.vscode-resource.vscode-cdn.net/home/claire/Dev/trailer/~/Dev/reachy2-sdk/src/reachy2_sdk/parts/mobile_base.py:318) self._mobility_stub.SendGoTo(req)

ValueError: The asbolute value of y should not be more than 1.0!
@ClaireHzl ClaireHzl self-assigned this Jan 8, 2025
@ClaireHzl
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Because the current odometry is already with a x or y value near 1, and we add a translation so it raises an error

This was linked to pull requests Jan 9, 2025
Modify mobile_base goto condition #472
Closed
471 issue on the mobile base translation #474
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