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roboticslab-uc3m / yarp-devices

A place for YARP devices
https://robots.uc3m.es/yarp-devices/
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Wrong position limits in software-inverted joints #213

Closed rsantos88 closed 5 years ago

rsantos88 commented 5 years ago

Doing some tests with the robot, I've noticed the following problem: The right frontal wrist has now the joint limits between [-115.1º and 44.7º]. This can be confirmed with:

>>get llim 5
Response: [is] llim -115.1 44.7 [tsta] 1 1558445604.35259 [ok]

and has been a joint in which the change of direction of rotation has had to be made. The problem is, when I try to move the joint to -50º, (front forward movement) the joint always stops suddenly, applying a bad joint limit that is not correct. This it checked with:

>>set pos 5 -50
Response: [ok]
>>get enc 5
Response: [is] enc -44.8154640197754 [tsta] 3 1558515910.18424 [ok]

is as if the configured limit were: [-44.7 115.1] However, I don't have this problem with left frontal wrist (not changed by DOF)

Related:

PeterBowman commented 5 years ago

Only to discard a copy-paste error:

rsantos88 commented 5 years ago
  • get llimb 5: llim, right?

llim, yes (sorry)

  • set pos 5 50 or set pos 5 -50?

set pos 5 -50