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nepfaff / tenaci

Software for a robotic manipulator that can rotate and stack cubes, draw sketches, and prepare a miniature breakfast.
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Task 1: Finish simulation #21

Closed nepfaff closed 2 years ago

nepfaff commented 2 years ago

Our current task space interpolation simulation works well for testing things. However, it does not yet fulfil all the specifications that we need for the video.

FK part of the task

We need to "run forward kinematics by incrementing joint angles and plotting the robot".

I'm not sure how Ad wants us to show this. Does he want his 3 cartesian planes as he wants for the IK part?

IK part of the task

We need to "trace a square of 10x10cm in each cartesian plane. Be sure to draw the square (use line objects of different colours)". I'm guessing that this means using a different square colour for each plane. Examples of these are shown in the recording of lecture 5.

I'm not sure why we can't just use our current 3D simulations but this is what the specifications say. It might be worth asking Ad whether our current simulation would do as well.

We should also film the video for this. Probably some screen recording showing all 3 planes simultaneously.

jl1719 commented 2 years ago

I am checking this with Ad now

nepfaff commented 2 years ago

I just saw that you added some code for the three squares: https://github.com/nicholas-p1/icl_robotic_manipulation_labs/commit/a051a954d7a5f93eb50aded1220d25148c22c952

However, this does not seem to work for me. Is this expected? image

jl1719 commented 2 years ago

Sorry I just check the email. The code work for me though and I’m trying to do the recording with Shifan

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I just saw that you added some code for the three squares: a051a95https://github.com/nicholas-p1/icl_robotic_manipulation_labs/commit/a051a954d7a5f93eb50aded1220d25148c22c952

However, this does not seem to work for me. Is this expected? [image]https://user-images.githubusercontent.com/53228351/157281287-cfd9eaa6-0822-4c1a-8473-6b0da9613938.png

― Reply to this email directly, view it on GitHubhttps://github.com/nicholas-p1/icl_robotic_manipulation_labs/issues/21#issuecomment-1061964062, or unsubscribehttps://github.com/notifications/unsubscribe-auth/AOI2IGGLKG465GYJ3GJMSWTU6552PANCNFSM5QDYC4PQ. Triage notifications on the go with GitHub Mobile for iOShttps://apps.apple.com/app/apple-store/id1477376905?ct=notification-email&mt=8&pt=524675 or Androidhttps://play.google.com/store/apps/details?id=com.github.android&referrer=utm_campaign%3Dnotification-email%26utm_medium%3Demail%26utm_source%3Dgithub. You are receiving this because you were assigned.Message ID: @.***>

nepfaff commented 2 years ago

Dr Spiers said that the 3D simulation is fine and we don't need to replace this with 3 cartesian planes. This means that our IK simulation is ready to go. We still need to add the FK simulation (this should be simple).

nepfaff commented 2 years ago

all done