haixuanTao
commented
5 months ago Could be good to have a readme to understand how this works :)
To be honest, this looks like a nice tool in general, but could be good to have a good documentation as well as a way to check if the configuration worked within Wizard and if not, how to fix it within wizard.
The issue :
While assembling Alexander Koch's arms, one can make "small mistakes," if you can call them that:
You might reverse the direction of a motor without it being dramatic for the hardware.
You might have rotated the motor shaft differently on one arm compared to another before attaching it with the various 3D printed parts.
You might simply have a motor slightly misaligned compared to another at the incremental reader level.
All these small changes mean that the reading of "Present Position" or the writing of "Goal Position" actually differs between two sets of arms.
The solution :
Even though we can always translate the data to make them compatible, it would be better if everyone started from the same base: I therefore propose a small Wizard, which, using rustypot, allows configuring Koch's arms in one go after assembly, without needing to manipulate the Homing offset in the official Wizard.
The principle is as follows: The user runs the wizard in command-line. The user is asked to put the arm consecutively in three specific positions. And that's it!
After this operation, we can ensure (for example) that the rotation around the lowest servo is always: 0° facing forward, -90° to the left, +90° to the right for the reading of "Present Position." This data harmonization will facilitate its processing for learning.
The idea is therefore to find a generic configuration for the angles (according to Xavier, maybe on a URDF of Koch)