We restored a backup from someone else’s YuMi on ours as a last resort.
When we executed the task, the left arm oriented itself into an almost reverse/mirror configuration.
Both arms moved erratically, but we were able to move the right arm back to the default pose.
Trying to put the left arm into the normal default pose (like all the pictures of the YuMi) using lead through mode fails because the motors seem to have reset the rotation limits so that you cannot rotate the joints to where they should be.
We tried restoring our original config but that did not change anything.
We also tried doing the hall sensor calibration. for all the left arm joints. But doing this leaves the arm in a pose that it shouldn’t be in (i.e ‘bad’). The controller thinks everything is calibrated, which is not good. Maybe it is calibrated to a mirror position?
The ‘bad’ pose of the left arm is such that jogging even slightly in any direction causes collision prediction errors to occur.
We did try turning off collision prediction, and then try lead through mode, but the same problem with the motor limits is present.
I might be completely wrong about the motor rotation limits being something that can change (through firmware?), but my understanding of servo motors makes me think this is the case.
Is there a way to reset/ turn off the motor limits so that I can rotate the joints into their correct orientations?
Context:
We are trying to get YuMi to work with ROS. The instructions to do this are outdated and unclear. As a last resort, we restored from backups we found on the Github repo of the instructions. Bad idea… 
