Comments (39)
Ok, I'm going to work on this issue:
I will use the rotation diagram as a reference, correcting those that have a negative direction and applying the change to the maximum and minimum limits:
I will use the example of the right elbow that @jgvictores told me:
The result, taking into account the current limits of manipulation and locomotion would be this.
In my humble opinion, I think it would be quite interesting to reconsider the revision of the limits. In the arms a more detailed revision of the limits has already been made, correcting some errors. (#15 (comment))
I would work on these limits. Also, I would recommend checking the limits of the legs again with @jmgarciah , and apply the new changes of direction. I await your proposals :)
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This is not a picture, but might be useful:
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I have found an image that could be insteresting for a new TEO diagram. And finally understand the joint direction.
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I totally agree. It is only an idea. So please, take it as you need
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To close this issue I'd be satisfied with real TEO's ini files and manual images, and open separate issues on simulation model repositories
I've modified the images of directions. Review it please: roboticslab-uc3m/teo-developer-manual@6238c4b
In my humble opinion, I think it would be quite interesting to reconsider the revision of the limits. In the arms a more detailed revision of the limits has already been made, correcting some errors. (#15 (comment))
I would work on these limits. Also, I would recommend checking the limits of the legs again with @jmgarciah , and apply the new changes of direction. I await your proposals :)
To continue with this issue, once again, I would recommend modifying and correcting the limits of the arms and legs and then the direction of rotation, are you agree with that?
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Updated #39 (comment) about update simulated models
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Yes, please close, and we can actually unblock kinematics! Other issues are all tracked individually. πππ
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I found that some directions of rotation are wrong.
Do you want to correct the diagram or the direction in the real robot?
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The signs are ok but, @jmgarciah and me think that the arrows can generate confusin in the Y axis
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Talking with @smcdiaz and seeing the TEO's hardware, we have found a possible solution. Related with the two saggital motor of the legs, the wires of the gear are different from the rest.
@jgvictores have given me permission to change the order of the wires and have the same turning sense that the diagram.
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Looks nice, could be done with TEO.
I would try to avoid the RPY terminology (Roll is Z in some fields) and stick to ours.
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In my opinion, i think that overlapping of the robot model over the axis, make that image a little overload, and can be confusing.
Maybe a good solution could be to use the simplified model that is used now with the Teo Joint Directions of Rotation but with the perspective in that image, for an easier understanding.
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If anyone could take a picture of TEO in a pose similar to NAO there (same perspective, but arms pointing down), I could give it a shot. Some alpha layer magic should do the trick. :-)
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Something like @David-Estevez shows could be perfect
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I can pose it and change the colors to whatever suits your diagrams, just tell me!
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@David-Estevez totally agree π
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@smcdiaz and me have finished to correct the saggital joint direction. But we have to check that everything is ok
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@smcdiaz and me have finished to correct the saggital joint direction. But we have to check that everything is ok
I've checked the result with @jmgarciah and it's not working well.
When I run launchLocomotion
and check the value of sagital axis, the value is -3.93673706054688
I move this axis to homing position, setting position to 0, and the axis moves outside and when I get the position, it returns -7.45166015625
@jmgarciah propouse to @jgvictores or @smcdiaz to have a look at this problem because
he has no idea.
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Changed sign of CUI Absolute Encoder to read the correct joint directions of rotation.
See here the changes. It has been tested and it works ok. Now the directions of rotation of the joint ID 5 and 12 correspond to the diagram.
Note: the axial rotation of the waist has not been corrected
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notes:
- PR is pending to be performed, but it has been changed on the robot to be use.
- After all the changes, I've corrected the home position of the legs (more accurate initial position)
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Other curious note observed:
- When you run
launchLocomotion
, always the right sagittal leg moves arround 10ΒΊ degrees out.
You can correct this doing the home position with--homePoss
, but something causes the joint to move when the driver is initializing.
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The legs' sagittal joints are already fixed. The only remaining joint is the axial waist. Fixing via hardware this joint is more complicate than via software, I think. It is neccesary to separe the body from the legs. I propose to change the values from .ini files. Please @jgvictores , help us.
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On my way!
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It is neccesary to separe the body from the legs. I propose to change the values from .ini files
First diagrams, then update all related configuration files and robot models.
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The fact that there are negative trs
in launchLocomotion.ini
means that diagrams are incorrect.
I've opened roboticslab-uc3m/teo-configuration-files#11 pointing at the situation.
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The fact that there are negative trs in launchLocomotion.ini means that diagrams are incorrect.
I've opened roboticslab-uc3m/teo-configuration-files#11 pointing at the situation.
roboticslab-uc3m/teo-configuration-files#11 has been closed.
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The direction of rotation of the axial waist is opposite in the .ini
config file and the diagram.
What we should to change? The diagram? The config file? or it doesn't matter which of them?
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Better change the .ini (diagrams also affect DH etc)
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@rsantos88 I've taken a look at roboticslab-uc3m/teo-configuration-files@5addf18 and it seems amazing!
- To close this issue I'd be satisfied with real TEO's ini files and manual images, and open separate issues on simulation model repositories
- Note to self: develop small script to enable porting programs to be compatible with new criteria
Issues that will be unblocked:
- Joint limits: see my comment at #15 (comment)
- Kinematic model and diagrams: #38
- Probably many more!
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Looks great to me!
IMHO, you can close the issue, and we can proceed with:
- #15 (joint limits)
- Update simulated models (or put issue per repo)
- Update demos (or put issue per repo)
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Here are the result of merging the new joint limits of arms with the new direction of rotation in "teo-configuration-files" repository: roboticslab-uc3m/teo-configuration-files#18
(please, check it in case something has escaped me)
Maybe we can keep it this way, without revising the limits of the legs again and consider that the previous measurement with @AlvaroMartinezR was correct. What do you think? Would it be interesting to review the limits of the legs again before continuing?
If we continue without legs revision, the next steps would be:
- Reflect the changes in the tables of teo-developer-manual repository
- Accept pull request: roboticslab-uc3m/teo-developer-manual#50
- Finish the changes in the .ini configuration files:
- Accept this pull request: roboticslab-uc3m/teo-configuration-files#18
- Apply changes in yarp-devices repository (this has been tested in POS and VEL mode.)
- Accept pull request: roboticslab-uc3m/yarp-devices#205
and...
- Update simulated models (or put issue per repo)
- Accept this pull request: roboticslab-uc3m/teo-openrave-models#25
- Update demos (or put issue per repo)
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I think you should check the whole robot, not just the arms. If we are going to modify the directions of the joints, we should not leave the work halfway.
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Updated: #39 (comment)
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- Accept pull request (
tr
s inyarp-devices
): roboticslab-uc3m/yarp-devices#205
Merged at roboticslab-uc3m/yarp-devices@304b245
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- Accept pull request: roboticslab-uc3m/teo-developer-manual#50
Merged at roboticslab-uc3m/teo-developer-manual@118f472
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- Accept this pull request: roboticslab-uc3m/teo-configuration-files#18
Merged at roboticslab-uc3m/teo-configuration-files@23703e1
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[x] Update demos (or put issue per repo)
Will be tracked at:
- roboticslab-uc3m/teo-waiter#9
- roboticslab-uc3m/teo-follow-me#46
- roboticslab-uc3m/teo-self-presentation#8
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[x] Update simulated models (or put issue per repo)
- roboticslab-uc3m/teo-openrave-models#26 (roboticslab-uc3m/teo-openrave-models#25)
- roboticslab-uc3m/teo-simox-models#3
- roboticslab-uc3m/teo-ros#1
- roboticslab-uc3m/legacy-teo-gazebo#5
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Ok! Can I close this issue or do you want to add more things like the change in kinematics (important issue)?
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Related Issues (20)
- Migration from Debian 6.0 to Ubuntu 14.04 on TEO HOT 21
- Squats: Generate trajectories and perform on sim and real HOT 7
- Not all drivers act in torque mode with launchManipulation + gcmp HOT 5
- Error compilation on manip-waiter repo HOT 3
- Review and Unify TEO link names HOT 13
- Review and Unify TEO kinematic model HOT 18
- Started TEO parameter and diagram review and unify project HOT 1
- superbuild repositories for each TEO PC HOT 2
- CMake/YCM not finding already installed repos HOT 5
- unavailable computers running services on YMM HOT 3
- Review and Unify TEO joint names HOT 14
- Ubuntu 14.04 doesn't support `util-linux 2.23` HOT 3
- Think about DNS HOT 1
- Instalando nuevo router de Teo: reorganizando comunicaciones y cableado HOT 15
- Changing head (neck) joint order HOT 1
- Update teo-head to Xenial HOT 2
- Docker for TEO Development HOT 3
- Gait demo using iCub's walking controllers HOT 7
- CAN bus setup on the new Jetson board (future head PC) HOT 8
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