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ami-iit / element_weight-retargeting

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Display the weight of the object in the VR #19

Closed RiccardoGrieco closed 2 years ago

RiccardoGrieco commented 2 years ago

Following https://github.com/ami-iit/component_ANA-Avatar-XPRIZE/issues/467, this issue to add a text in the VR displaying the weight of the object held by the robot.

RiccardoGrieco commented 2 years ago

Changes are being tracked in feature-display_weight

RiccardoGrieco commented 2 years ago

In order to calculate and show the weight of the object, what I am doing is summing the wrenches provided by wholeBodyDynamics on the hands via the /wholeBodyDynamics/[left_arm, right_arm]/cartesianEndEffectorWrench:o ports.

The forces on z axis towards the ground are summed and then divided by the gravity acceleration.

S-Dafarra commented 2 years ago

We tried this and it was working. It seemed to display a wrong value though. It was measuring 3Kg, but the weight of the object was around 1Kg

S-Dafarra commented 2 years ago

I would also suggest to check that when starting the module, the measured weight is close to zero, assuming that the robot is holding nothing

RiccardoGrieco commented 2 years ago

We tried this and it was working. It seemed to display a wrong value though. It was measuring 3Kg, but the weight of the object was around 1Kg

I'm going to analyze the logs from the test session to see what the measured wrenches on the end-effectors were.

I would also suggest to check that when starting the module, the measured weight is close to zero, assuming that the robot is holding nothing

What do you believe the module is supposed to do if at startup the weight is not close to zero? Also we should then be sure that, when the ports are connected, the offset have been already removed. This can be something very tricky.

S-Dafarra commented 2 years ago

What do you believe the module is supposed to do if at startup the weight is not close to zero?

I was thinking about a simple offset removal :thinking:

RiccardoGrieco commented 2 years ago

I was thinking about a simple offset removal :thinking:

If we do it at startup, and the wholeBodyDynamics offset removal is perfomed afterwards, we would need to reset the offset manually again.

I would keep it as it is for the time being and rely on the measurements from wholeBodyDynamics.

RiccardoGrieco commented 2 years ago

Related PR #21 was merged.

For what concerns the issue of the value of the displayed weight, the measured forces at the arms are not reliable (see https://github.com/ami-iit/component_ANA-Avatar-XPRIZE/issues/518#issuecomment-1044442690). It is to be checked if the issue on the WeightDisplayModule side persists after this is solved.

Closing this issue.