ABB Yumi executing incorrect trajectory

[jayesh59]

We have a ABB Yumi robot that we are using for experiments with the ABB EGM module.

We have observed that the Yumi robot is not following the trajectory that we are providing through ROS and instead is following an unexpected path that is resulting in incorrect end effector pose.

I have attached a screen grabs of the Moveit window where you can see that a translucent Yumi model is executing the trajectory that has been computed by Moveit motion planners and the solid Yumi model is following the trajectory that the actual Yumi robot is executing. Both of these trajectories are significantly different and the trajectory that the real robot is following is not resulting in the desired/target end effector pose.

yumi_executed_trajectory_difference.mp4