Unable to calibrate yumi robot

Rancho

Hi all,

When I use the control codes of yumipy to move the robot, I find the moving direction doesn’t match the robot coordinate system, so I try to calibrate it according to the product manual of Yumi.

As the following context from the manual shows, I need to align the markers of each joint, and let the robot be the calibration pose.

yumi-1.jpg

But I find the markers of our robot cannot align, and also can’t reach the calibration pose, the following figure comes from the first joint of our robot’s left arm:

yumi-2.jpg

And the robot I use is shown as the image:
yumi-3.jpg

Does the problem come from the wrong assembling process?