Gesture Kinematic Diagram

VR-Nic commented 4 years ago

Hey folks,

Is there any documentation for the gesture system with the axis and limits for each QTrobot part? I'm looking for something like a kinematic diagram that shows the limits, axis, and directionality for each moveable joint on the QTRobot.

Thanks, Nic

qtrobot commented 4 years ago

Hi @VR-Nic , Here are some information you may find it useful for your question:

Gesture files

the gesture are simply xml files containing robots joint waypoints and their timestamps. They are located under ~/robot/data/gestures/ folder in QTRP (head) board. here is an example:

<?xml version="1.0" encoding="utf-8" standalone="yes" ?>
<gesture>
    <name>QT/bye</name>
    <parts>
        <part>right_arm</part>
        <part>left_arm</part>
    </parts>
    <duration>5.54</duration>
    <waypoints count="97">
        <point time="1558971402671926152">
            <LeftElbowRoll>-33.50</LeftElbowRoll>
            <LeftShoulderPitch>89.90</LeftShoulderPitch>
            <LeftShoulderRoll>-62.90</LeftShoulderRoll>
            <RightElbowRoll>-31.90</RightElbowRoll>
            <RightShoulderPitch>-88.60</RightShoulderPitch>
            <RightShoulderRoll>-59.30</RightShoulderRoll>
        </point>
        <point time="1558971402704626777">
            <LeftElbowRoll>-33.50</LeftElbowRoll>
            <LeftShoulderPitch>89.90</LeftShoulderPitch>
            <LeftShoulderRoll>-64.80</LeftShoulderRoll>
            <RightElbowRoll>-30.60</RightElbowRoll>
            <RightShoulderPitch>-88.60</RightShoulderPitch>
            <RightShoulderRoll>-60.60</RightShoulderRoll>
        </point>
...

QTrobot Joints configuration

in QTRP, under /opt/ros/kinetic/share/qt_motor/ there are motor controller config files:

qtrobot-hardware.yaml: contains each motor configuration such as joints limit, PID, calibration offsets, etc.
qtrobot-controller.yaml: contains QTrobot controller interface configuration such as joint_state, gesture, etc. These interface are implemented using ROS control system.

QTRobot URDF

You can find the QTrobot URDF fils in the following links:

You can also load them in Gazebo to visualize joint configurations and test them:

$ roslaunch urdf_tutorial display.launch model:=qtrobot.urdf

you need to copy the qtrobot.urdf file to the proper folder in your PC (where you have installed Gazebo). Check the display.launch to find the path.

Hope this can help you :)

qtrobot commented 4 years ago

Please also see our latest tutorial on how to use ROS MoveIt with QTrobot: https://github.com/luxai-qtrobot/tutorials/tree/master/examples/motors_moveit

luxai-qtrobot / QA