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robotology-legacy / mex-wholebodymodel

Matlab MEX interface to the iWholeBodyModel interface.
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Comment and cleanup of visualisation #11

Closed naveenoid closed 9 years ago

naveenoid commented 9 years ago

The visualiser, especially the GUI components of run_forwardDyn and the graphics drawing components of visualize_forwardDyn need cleanup and commenting. Its currently filled with too much kludge.

Also possible bug with the new WBI ID but I am currently investigating this. Without cleanup its basically impossible for me to debug.

talhaaliarslan commented 9 years ago

I totally agree, there is a lot of cleaning up to do and comments to add, i will be on it

naveenoid commented 9 years ago

Not yet. I will check in something in next 2 days. Clean up the visualiser after that pls. There was a major bug in how you were assuming ForwardKinematics returns quaternions when infact it was axis-angle until now.

Naveen Kuppuswamy, PhD Post-doctoral Fellow, Cognitive Humanoids Lab, Department of Robotics, Brain and Cognitive Sciences (RBCS), Istituto Italiano di Tecnologia, Genova, Italy

On Sat, Dec 13, 2014 at 5:06 AM, Talha Arslan notifications@github.com wrote:

I totally agree, there is a lot of cleaning up to do and comments to add, i will be on it

— Reply to this email directly or view it on GitHub https://github.com/robotology-playground/mex-wholebodymodel/issues/11#issuecomment-66864276 .

talhaaliarslan commented 9 years ago

yes i checked it, it is assumed like that but the rotation matrix is not used in the visualizer, only the position data is used, which must be the first three elements returned by ForwardKinematics. So, quat2rot worker function can be replaced by just getting the first three elements.

naveenoid commented 9 years ago

I have pushed a new version of source with several bugs addressed. Could you check forward dynamics, controller and the visualiser? One change in the visualiser is that the link names have been changed due to the new location of frames with respect to the link_names

talhaaliarslan commented 9 years ago

visualizer code is cleaned and commented in https://github.com/robotology-playground/mex-wholebodymodel/commit/dda85770c5baf373dd989b3ccbeff0520ddb8b77 . I checked the forward dynamics and the controller (both the old and the new one) and there seems to be a problem. However it seems ok for zero torques. I'm not sure if it is related to the recent changes in this repo.