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roboticslab-uc3m / teo-main

TEO full-sized humanoid robot: super/meta repository.
http://roboticslab.uc3m.es/roboticslab/robot/teo-humanoid
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Review and Unify TEO model joint limits #15

Closed PeterBowman closed 5 years ago

PeterBowman commented 7 years ago

Original issue: roboticslab-uc3m/kinematics-dynamics#31

Robot model joint limits reference should be in https://github.com/roboticslab-uc3m/teo-software-manual/blob/master/appendix/a-teo-diagrams.md

The following is a list of models to potentially be updated.

jgvictores commented 6 years ago

I've removed the limits of this files

@rsantos88 Thanks! I've merged https://github.com/roboticslab-uc3m/teo-configuration-files/pull/6

Are the other files useful? Do you want to delete them? (e.g: leftArm22Kinematics.ini or leftArmKinematics-isolated.ini)

@rsantos88 Let's leave them for now. Stared https://github.com/roboticslab-uc3m/teo-configuration-files/issues/7 to track that issue.

@jgvictores Yes, but I am currently working on a paper for iros and since no one uses simox models I will update it as soon as I finish the article.

@AlvaroMartinezR Thanks a lot, no hurry!

@rsantos88 Before merging the other PRs, I'm worried about recent changes and also the values marked with an asterisk. Postponing merges till we can speak about it in person!

AlvaroMartinezR commented 6 years ago

I want to note that it would be better if we keep the symmetry for the soft and human inspired limits. Not pairing opposite joints does not make sense to me.

Edit:

I corrected one mistake here, one human inspired limit had a higher value than the hard one. Dangerous

rsantos88 commented 6 years ago

An error has been found in the maximum and minimum limits of the right and left axial wrists. Changes updated in csv and ods file. This change has to be taken into account for the rest of the .ini files

rsantos88 commented 6 years ago

An error has been found in the maximum and minimum limits of the right and left axial wrists. Changes updated in csv and ods file. This change has to be taken into account for the rest of the .ini files

Fixed this wrong values at:

@AlvaroMartinezR , remember to change this values in your ArmarX models

AlvaroMartinezR commented 6 years ago

@rsantos88 Done

PeterBowman commented 5 years ago

We are adding a small tolerance to joint limits in the cartesian controller, @jgvictores suggests that it could be taken into account here (https://github.com/roboticslab-uc3m/kinematics-dynamics/issues/161#issuecomment-430241518).

jgvictores commented 5 years ago

Blocked by #39

rsantos88 commented 5 years ago

After checking that the limits of the right frontal elbow was poorly annotated, we proceeded (thanks to @jmgarciah) to review all the joint limits of the arms, one by one, and made the respective modifications of some. Changes updated in csv and ods file. (commit here) If you are agree, we can we can modify the .ini and the openrave files. Sorry for the mess.

jgvictores commented 5 years ago

No problem! As commented :smiley:2:smiley:, make all changes required (e.g. touch simulator if needed, not as part of a final solution, because still blocked by #39). :+1:

rsantos88 commented 5 years ago

Perfect!! Just to keep in mind that I'm currently using those limits in TEO, installed in the manipulation computer, making use of the branch new-limits-reviewed :+1:

jgvictores commented 5 years ago

This issue will be tedious, but a also a great opportunity to establish several ranges of joint limits (physical, driver-level recommended, software-level recommended, human-like...)!

rsantos88 commented 5 years ago

Pending of: https://github.com/roboticslab-uc3m/teo-main/issues/39

rsantos88 commented 5 years ago

No more pending of: https://github.com/roboticslab-uc3m/teo-main/issues/39

jgvictores commented 5 years ago

@rsantos88 IMHO you can already close this issue, and next week we can start working on kinematics at https://github.com/roboticslab-uc3m/teo-main/issues/38 !!

rsantos88 commented 5 years ago

Perfect. Thanks

PeterBowman commented 5 years ago

Leg joint limits are asymmetrical. For instance (ref), [-14.1,12.5] on the second joint, right leg, would imply [14.1,-12.5] on the same joint, left leg. Of course, better check this manually again, avoiding a mere replication of values. Might affect the arms, too.

rsantos88 commented 5 years ago

I've modified some joint limits and I recommend you to check your walk experiments with the new changes using this branch of teo-openrave-models. I've only changed the limits of some joints of the left leg (which are cloned from the right leg). Remember that these values, therefore, haven't been checked with the real joints of the robot. They are replicated with respect to the right leg.

rsantos88 commented 5 years ago

changes reflected also in this commit of teo-developer-manual, branch fix-asymmetrical-joint-limits

PeterBowman commented 5 years ago

Thanks, @rsantos88. Successfully checked on simulation, just two more things:

rsantos88 commented 5 years ago

Thanks, @rsantos88. Successfully checked on simulation, just two more things:

Thanks @PeterBowman! that's just what I was waiting for. Now I can update launchLocomotion.ini.

yes! if you look at it, the file has already been modified but github recognizes it as binary and can not show the changes

I'll update all the changes related (do PR.. etc) and close this issue

rsantos88 commented 5 years ago

fixed at 8b56857ac09b83c9576bd8085ec6c3b9443a67f3

rsantos88 commented 5 years ago

Changes merged:

f you are agree, close the issue

PeterBowman commented 5 years ago

Closing, thanks!