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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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Not all drivers act in torque mode with launchManipulation + gcmp #35

Closed jgvictores closed 6 years ago

jgvictores commented 6 years ago

Using:

launchManipulation can be launched, but having issues when used with stated [gcmp]: torque mode is set, but driver 1 of rightArm seems to be in position control (note that kin-dyn stat and yarp-dev [get] [icmd] [cmds] indicate all okay). Sending kin-dyn [stop] then [gcmp] again makes it worse: despite that kin-dyn stat and yarp-dev [get] [icmd] [cmds] indicate all okay, all act in practice as if position mode.

jgvictores commented 6 years ago

Blocks https://github.com/roboticslab-uc3m/xgnitive/issues/52

PeterBowman commented 6 years ago

Possibly related: roboticslab-uc3m/yarp-devices#127.

jgvictores commented 6 years ago

Possibly related: roboticslab-uc3m/yarp-devices#127.

Yes, looks totally like that. Attempting to: pos -> torq -> pos -> torq seems not doable at all.

jgvictores commented 6 years ago

Hack for now will possibly be enabling and checking each motor driver manually, before launching gcmp... :-(

jgvictores commented 6 years ago

Progress will be tracked at https://github.com/roboticslab-uc3m/yarp-devices/issues/170 ([TechnosoftIpos] Problems changing mode)