Review and Unify TEO dynamic model

PeterBowman commented 6 years ago

From @jgvictores on April 20, 2016 10:59

Issue inherited from wiki, where work has been done (resulting in current TEO Diagrams). The following is a list of models to potentially be merged or linked somehow.

[ ] Kinematics(DH)+Mass/Inertia used by KdlSolver: [1].
[ ] OpenRAVE 3D and Kinematics used by teoSim: [2]
[ ] Gazebo 3D and Kinematics+Mass/Inertia used by teo-ros-simulation: [3]

For future reference, links to Mass/Inertia (official based on mechanical schematics): .XLS and .PDF.

Updated on 16/08/17 by PeterBowman.

Copied from original issue: roboticslab-uc3m/kinematics-dynamics#29

jgvictores commented 6 years ago

From @AlvaroMartinezR on November 8, 2017 12:15 at #21 : I have been working with SolidWorks and other CAE programs in order to develop an accurate dynamic model for TEO, including masses, inertias, CoM. It is not yet finished, but I wonder in which repository this kind of information (probably a .doc or a .pdf file) could be placed into.

There are a number of options on where to centralize this information (namely: teo-configuration-files, teo-hardware-manual, teo-software-manual).

This is argueable, but I currently recommend to create a markdown page (generated via ods2md) similar to this one that got lost in translation as Appendix B of https://github.com/roboticslab-uc3m/teo-software-manual (then upload the .ods to a src folder or similar).

The workflow then would be to update through other repositories (including teo-configuration-files, as well teo-openrave-models etc) that use their own program/library specific formats.

jgvictores commented 6 years ago

PS: Assigned to @AlvaroMartinezR but there will be a number of future collaborators to propagate the updates through the corresponding repositories. Thanks!

AlvaroMartinezR commented 6 years ago

Thanks! I will first finish extracting the information and then create a proper document.

jgvictores commented 6 years ago

Great, thanks!

jgvictores commented 6 years ago

I've been cleaning https://github.com/roboticslab-uc3m/teo-software-manual so now the workflow and placements are documented at: https://github.com/roboticslab-uc3m/teo-software-manual/blob/master/CONTRIBUTING.md#workflow-for-assets

Hope that helps!

jgvictores commented 6 years ago

Please note that Workflow and Placements (same rules) are now correctly at https://github.com/roboticslab-uc3m/teo-software-manual/blob/master/README.md#workflow-for-assets

AlvaroMartinezR commented 6 years ago

I finally obtained all dynamic information about all TEO's parts. SolidWorks provides the information in the following form: (see image below), as a plain text. (This comes straight out from SolidWorks, some lines are not usable in TEO's context, so will be edited or deleted)

My main inconvenient is that this kind of information I think it wouldn't fit well on a table similar to point 3 of the workflow. Therefore I think it will be better in a PDF.

AlvaroMartinezR commented 6 years ago

After talking with Santiago, he told me to upload the info as a PDf in the doc folder of teo-simox-models and link it from the wiki.

jgvictores commented 6 years ago

The screenshot is not plain text, it's .odt. What is the real output format? Is that copied and pasted?

AlvaroMartinezR commented 6 years ago

Yes, it copies to your clipboard as plain text, I pasted it on a .ods file because you go piece by piece, so I needed to store the previous ones somewhere.

jgvictores commented 6 years ago

Please add your .odt to the assets/src folder of https://github.com/roboticslab-uc3m/teo-software-manual. It would be great if you could add some lines at the top describing that it came from SolidWorks and link to the model.

After you do that, notify me here and I will proceed to see if pandoc does a good job in exporting .odt to .md. .md has very good properties (better parsed for search, better copied and pasted). Please note that an integrated .pdf is ultimately generated via the enabled GitBook mechanism (see here, the Download PDF button).

jgvictores commented 6 years ago

PS just because you mentioned .ods even though I got .odt from your screenshot:

.odt: Equivalent to Word Document. We'd try pandoc.
.ods: Equivalent to Excel Spreadsheet. This tabled format would be even better, and we could use ods2md.

jgvictores commented 6 years ago

PPS: @AlvaroMartinezR Think you could give it a shot at pasting the parts into an .ods? Perhaps it could work out.

AlvaroMartinezR commented 6 years ago

Well, dyslexia coming in place: I was all the time referring to .odt. In the meantime I was thinking in using md directly, actually I already started. So if I do it directly I save you this work. I will go for .md then.

jgvictores commented 6 years ago

So if I do it directly I save you this work. I will go for .md then.

.md is the new black. Three cheers for .md. What else can I say... Thanks! :+1:

jgvictores commented 6 years ago

PD: Would go directly in assets for now. Still looking for a good way to #include one .md in another.

AlvaroMartinezR commented 6 years ago

Done, created in assets.

jgvictores commented 6 years ago

Great! Did some renaming at https://github.com/roboticslab-uc3m/teo-software-manual/commit/b95b219d51ae36eddb0839ccb9653b76752d810b

Still plenty to do to close this issue, just to recap from the top:

Kinematics(DH)+Mass/Inertia used by KdlSolver: [1].

OpenRAVE 3D and Kinematics used by teoSim: [2]

Gazebo 3D and Kinematics+Mass/Inertia used by teo-ros-simulation: [3]