bit-bots / bitbots_main

This git contains all RoboCup code from the Hamburg Bit-Bots.

https://bit-bots.de

MIT License

35 stars 12 forks source link

pose_check.py: add ankles and zero position, reduce number of poses #519

Closed timonegk closed 2 months ago

timonegk commented 3 months ago

Summary

add ankle check to script
add zero-position to script (important to check horn mount)
reduce number of poses by combining head and arms

Checklist

[ ] Run colcon build
[ ] Write documentation
[ ] Test on your machine
[ ] Test on the robot
[ ] Create issues for future work
[ ] Triage this PR and label it

Flova commented 3 months ago

Looks good, but I am not sure what you mean with zero position and why no offsets are applied there. The offsets are there so that all limbs are straight if the motors are at their zero position, which is e.g. easier to validate for the knees, than that slightly awkward angle they normally have at zero.

Flova commented 2 months ago

Ping @timonegk

timonegk commented 2 months ago

The zero position is so that you can check at all motor horns whether they are correctly mounted. In this position the screws are aligned with the motor. This makes it easier to know which motor is correct if for example the legs are different but you don't know which one is correct.

Flova commented 2 months ago

Okay, but the offsets are for the exact same purpose, but using the overall robot geometry instead of the robot geometry as a reference, which should be easier to see.

timonegk commented 2 months ago

I removed the zero position.