teo and teoSim legs movement mismatch about teo-main

[jgvictores]

From @munozyanez on April 25, 2017 19:19

Corrected some issues about motor turn directions.
Redone the xml openrave teo ( https://github.com/roboticslab-uc3m/teo-openrave-models ) definition for both legs according to real robot. Ready to pull request if no worries.
Also redone DH for both legs according to new turn directions. Also ready to pull request.

[jgvictores]

From @munozyanez on April 25, 2017 19:21

But... the robot is still not moving correctly, next we will review the motor speeds for legs to avoid errors in that direction.

[jgvictores]

Okay, my main concern is to keep matching descriptions across files/repositories.

Kinematics:

• https://github.com/roboticslab-uc3m/teo-software-manual (both DH table and DH diagram of assets directory, .svg source in assets/src !!).
• https://github.com/roboticslab-uc3m/teo-configuration-files

Motor:

• https://github.com/roboticslab-uc3m/yarp-devices but as seen in #116 should be moved to https://github.com/roboticslab-uc3m/teo-configuration-files
• https://github.com/roboticslab-uc3m/teo-openrave-models

Could you please be very careful with this and keep updated and documented ??

[jgvictores]

From @munozyanez on April 27, 2017 10:58

I can update the drawings, but I will need the source files. Cant find in ( http://robots.uc3m.es/svn/TEOrepo/modelling/diagrams/editable/ ). Is there another place to look for apart from this one?

[jgvictores]

• https://github.com/roboticslab-uc3m/teo-software-manual/tree/master/assets
• https://github.com/roboticslab-uc3m/teo-software-manual/tree/master/assets/editable

[jgvictores]

From @munozyanez on April 27, 2017 16:5

Ok, shall I pull request or just update the files?

[jgvictores]

I think its okay to update directly, just try to cross-reference as much as possible (mention this issue in commits, etc). A branch and merge --no-ff is good as well. Thanks!

[jgvictores]

From @munozyanez on April 27, 2017 18:36

Ok, done updates. All but https://github.com/roboticslab-uc3m/yarp-devices , as it seems to be deprecated.
Not closing issue, because leg movement is still faulty.
Maybe related with Absolute encoders signs in configuration files?

[jgvictores]

From @munozyanez on April 27, 2017 18:40

Sorry, I mean the files will be no longer in this repo, not that repo will be deprecated.

[jgvictores]

Duplicate/blocked by #39, affects many including #38.

[jgvictores]

I'm marking this as resolved via #39 and #38.

Our guide is https://github.com/roboticslab-uc3m/teo-developer-manual (all positive w.r.t. root).

• If real robot movement does not follow this convention, please open an issue at https://github.com/roboticslab-uc3m/teo-configuration-files <- also for kinematics
• If simulated model movement does not follow this convention, please open an issue at the specific repository, e.g. OpenRAVE -> https://github.com/roboticslab-uc3m/teo-openrave-models