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roboticslab-uc3m / teo-main

TEO full-sized humanoid robot: super/meta repository.
http://roboticslab.uc3m.es/roboticslab/robot/teo-humanoid
GNU Lesser General Public License v2.1
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teo and teoSim legs movement mismatch #25

Closed jgvictores closed 5 years ago

jgvictores commented 7 years ago

From @munozyanez on April 20, 2017 19:25

Launching ´´yarpdev --device BasicTwoLimbCartesianControl´´ results in a faulty movement on teo. teoSim is working correctly with the same parameters.

Find below some points as example.

´´ New trajectory segment : 1->2, Segment index: 1

rfX: 0,-0.124531,-0.825,> rot: -0.707107,-4.32978e-17,0.707107,180, New trajectory segment : 1->2, Segment index: 1 lfX: 0,0.132469,-0.825,> rot: 0,-1,0,90, [STEP] [0.239693] x 0.000000 -0.124531 -0.825000 -0.707107 -0.000000 0.707107 180.000000 0.000000 0.132469 -0.825000 0.000000 -1.000000 0.000000 90.000000 xdot 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 [STEP] [0.239693] 0.001512 0.005314 0.019545 0.003074 -0.008279 -0.001534 -> 0.090844 -0.446273 -43.171995 90.580035 -47.882676 0.270900 [deg/s] rightLeg encoders: [-0.0878735, 0.0878735, -2.0914, 4.48155, -1.91565, 0.0878735] [STEP] [0.239693] -0.000482 0.007203 0.019518 0.004293 -0.001233 0.002763 -> 0.157589 -0.599489 -47.676554 100.258585 -52.652003 0.353329 [deg/s] leftLeg encoders: [-0.158173, 0.246063, -2.02109, 4.11249, -2.02109, -0] rfX: 0,-0.11952,-0.825,> rot: -0.707107,-4.32978e-17,0.707107,180, lfX: 0,0.13748,-0.825,> rot: 0,-1,0,90, [STEP] [0.289795] x 0.000000 -0.119520 -0.825000 -0.707107 -0.000000 0.707107 180.000000 0.000000 0.137480 -0.825000 0.000000 -1.000000 0.000000 90.000000 xdot 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 [STEP] [0.289795] -0.005570 0.010314 0.019619 0.003062 0.007058 -0.001534 -> 0.082125 -0.902988 -47.336021 100.284197 -52.544070 0.726950 [deg/s] rightLeg encoders: [-0.0878735, 0.0878735, -2.35501, 4.04218, -2.0914, 0.0878735] [STEP] [0.289795] -0.001189 0.007640 0.019607 -0.003067 0.000311 0.002761 -> 0.158424 -0.731755 -46.845017 98.606666 -51.744314 0.907526 [deg/s] leftLeg encoders: [-0.158173, -0.0878735, -2.10896, 4.20035, -2.10896, -0.0878735]

´´

Copied from original issue: roboticslab-uc3m/yarp-devices#115

jgvictores commented 7 years ago

From @munozyanez on April 25, 2017 19:19

Corrected some issues about motor turn directions. Redone the xml openrave teo ( https://github.com/roboticslab-uc3m/teo-openrave-models ) definition for both legs according to real robot. Ready to pull request if no worries. Also redone DH for both legs according to new turn directions. Also ready to pull request.

jgvictores commented 7 years ago

From @munozyanez on April 25, 2017 19:21

But... the robot is still not moving correctly, next we will review the motor speeds for legs to avoid errors in that direction.

jgvictores commented 7 years ago

Okay, my main concern is to keep matching descriptions across files/repositories.

Kinematics:

Motor:

Could you please be very careful with this and keep updated and documented ??

jgvictores commented 7 years ago

From @munozyanez on April 27, 2017 10:58

I can update the drawings, but I will need the source files. Cant find in ( http://robots.uc3m.es/svn/TEOrepo/modelling/diagrams/editable/ ). Is there another place to look for apart from this one?

jgvictores commented 7 years ago
jgvictores commented 7 years ago

From @munozyanez on April 27, 2017 16:5

Ok, shall I pull request or just update the files?

jgvictores commented 7 years ago

I think its okay to update directly, just try to cross-reference as much as possible (mention this issue in commits, etc). A branch and merge --no-ff is good as well. Thanks!

jgvictores commented 7 years ago

From @munozyanez on April 27, 2017 18:36

Ok, done updates. All but https://github.com/roboticslab-uc3m/yarp-devices , as it seems to be deprecated. Not closing issue, because leg movement is still faulty. Maybe related with Absolute encoders signs in configuration files?

jgvictores commented 7 years ago

From @munozyanez on April 27, 2017 18:40

Sorry, I mean the files will be no longer in this repo, not that repo will be deprecated.

jgvictores commented 5 years ago

Duplicate/blocked by #39, affects many including #38.

jgvictores commented 5 years ago

I'm marking this as resolved via https://github.com/roboticslab-uc3m/teo-main/issues/39 and https://github.com/roboticslab-uc3m/teo-main/issues/38.

Our guide is https://github.com/roboticslab-uc3m/teo-developer-manual (all positive w.r.t. root).