Review and Unify TEO joint names

[jgvictores]

Review and Unify TEO joint names

• [x] https://github.com/roboticslab-uc3m/teo-developer-manual
• [x] Openrave models: https://github.com/roboticslab-uc3m/teo-openrave-models
• [ ] Gazebo models: https://github.com/roboticslab-uc3m/teo-gazebo
  • legacy repo, now we use this: https://github.com/roboticslab-uc3m/teo-gazebo-models
• [ ] ROS URDF model: https://github.com/roboticslab-uc3m/teo-ros-simulation
• [ ] ArmarX models: https://github.com/roboticslab-uc3m/teo-simox-models
• [x] .ini of launch files: https://github.com/roboticslab-uc3m/teo-configuration-files/tree/develop/share/launchManipulation and https://github.com/roboticslab-uc3m/teo-configuration-files/tree/develop/share/launchLocomotion (?????)
  • check our new implementation
• [ ] .ini of kinematics files (?????)
  • no joint names involved here

[jgvictores]

For reference, I'd use what is currently called Simox-names from: https://github.com/roboticslab-uc3m/teo-developer-manual/blob/8d2539261ca1755c7040958b9384d99af10dfbe4/assets/motores-motores.csv

[jgvictores]

Some refs, possibly not too relevant:

• https://discourse.ros.org/t/naming-standards-for-joints-in-humanoid-robots/3992
• http://www.ros.org/reps/rep-0120.html

[PeterBowman]

Note: "saggital, frontal, axial..." might be misplaced, e.g. current saggital leg joints are actually frontal joints according to https://en.wikipedia.org/wiki/Anatomical_plane.

[jgvictores]

ASWB:

• We'll use the words: saggital, frontal, axial
• Names in English, preserving English grammar order, and put Left/Right in middle position
• Examples: SagittalLeftElbow, SagittalTrunk

[jgvictores]

Related: https://github.com/roboticslab-uc3m/teo-developer-manual/issues/62

[PeterBowman]

Note: "saggital, frontal, axial..." might be misplaced, e.g. current saggital leg joints are actually frontal joints according to https://en.wikipedia.org/wiki/Anatomical_plane.

Speaking of planes, yes. Speaking of axes, cf. https://www.researchgate.net/publication/270340667 and check the following diagram:

More documents seem to avail this choice of names, see e.g. this one:

The sagital axis passes horizontally from posterior to anterior and is formed by the intersection of the sagital and transverse planes.

The frontal axis passes horizontally from left to right and is formed by the intersection of the frontal and transverse planes.

The vertical axis passes vertically from inferior to superior and is formed by the intersection of the sagital and frontal planes.

[jgvictores]

I guess this means we could actually keep something similar to the current names? Namely, regarding root frame:

• X: Sagittal
• Y: Frontal
• Z: Axial

Therefore: FrontalLeftElbow, FrontalTrunk, right?

[jgvictores]

PS: I've also thought about simply LeftElbowY (LEY) and TrunkY (TY). Partially discarded as these refer to root frame and change depending on previous rotations (but same reasoning may apply to above...).

[PeterBowman]

I think the sagittal/frontal/axial naming scheme is well established and, since it's actually correct (contrary to what we thought), I'd stick to it rather than switching to XYZ suffixes.

Therefore: FrontalLeftElbow, FrontalTrunk, right?

OK.

[PeterBowman]

Note: review and unify OpenRAVE joint names, too.

[jgvictores]

Note: review and unify OpenRAVE joint names, too.

Updated issue description. May have added some overkill: for now our .ini's do not contain this sort of info.

[jgvictores]

• [x] https://github.com/roboticslab-uc3m/teo-developer-manual

Done at https://github.com/roboticslab-uc3m/teo-developer-manual/commit/e6475723b484c020d46d6251c43d2c61822db6ee

[rsantos88]

• [x] Openrave models: https://github.com/roboticslab-uc3m/teo-openrave-models

Done at https://github.com/roboticslab-uc3m/teo-openrave-models/pull/35

[jgvictores]

Done at roboticslab-uc3m/teo-openrave-models#35

Perfect! I added the PR related to the OpenRAVE model to the TEO project for visibility, but keeping this issue open for tracking other models. Thanks!!!