search

ros-naoqi / nao_moveit_config

MoveIt! config files for the Aldebaran NAO
10 stars 11 forks source link

Error: Group 'leg_right' has mimic joint #3

Open evenmarbles opened 9 years ago

evenmarbles commented 9 years ago

When launching the demo with 

roslaunch nao_moveit_config demo.launch

the following error is thrown:

Group 'leg_right' has a mimic joint. Will not initialize dynamics solver

Trying to manipulate the leg_right change in rviz crashes the application.

costashatz commented 9 years ago

I am trying to find a solution.. I will post here if I find anything..Any news on that from your side? A quick fix would be to create the chain manually by selecting the joints, but then right leg would not be connected to base_link (torso) which is something we want to..

mikaelarguedas commented 9 years ago

I'm trying to find a solution too, I think that we shoudl be able to find a solution at the URDF level. Some kind of standard HipJoint that both LHipPitchYaw and RHipPitchYaw can command. But I haven't tried anything in this direction yet. I'll let you know if I find something.

2015-02-25 7:55 GMT-05:00 Konstantinos Chatzilygeroudis < notifications@github.com>:

I am trying to find a solution.. I will post here if I find anything..Any news on that from your side? A quick fix would be to create the chain manually by selecting the joints, but then right leg would not be connected to base_link (torso) which is something we want to..

— Reply to this email directly or view it on GitHub https://github.com/ros-naoqi/nao_moveit_config/issues/3#issuecomment-75954915 .

costashatz commented 9 years ago

Looking at whole body ik plugin by @davetcoleman , I am realizing that this mimic joint becomes a serious problem. A way to bypass it must be found. The repo won't be able to keep up with MoveIt! changes regarding humanoid/whole body ik improvements. Unless we edit everything to include mimic joints! :stuck_out_tongue:

So, I believe a focus towards that direction should be made (by-passing the mimic joint)...

davetcoleman commented 9 years ago

What is your need for a mimic joint? My plugin could support mimic joints, similar to how the KDL plugin does, I just removed that feature during development so that I had less to worry about (since I didn't need it).

handcarbon commented 9 years ago

Probably reason is following: "NAO LHipYawPitch and RHipYawPitch share the same motor so they move simultaneously and symmetrically. In case of conflicting orders, LHipYawPitch always takes the priority."

2015-02-26 21:30 GMT+02:00 Dave Coleman notifications@github.com:

What is your need for a mimic joint?

— Reply to this email directly or view it on GitHub https://github.com/ros-naoqi/nao_moveit_config/issues/3#issuecomment-76250135 .

costashatz commented 9 years ago

@davetcoleman : Can you implement support for mimic joint to your plugin? Or provide us with references to do it?

davetcoleman commented 9 years ago

i certainly do not have time to add new features. look at how the KDL kinematics plugin does it as a starting point. i'd be happy to review the changes

costashatz commented 9 years ago

Thanks!

vrabaud commented 9 years ago

thx @davetcoleman ! You're still awesome !

zp2546265641 commented 2 months ago

hello, who can help me with the same problem! and so, do you have solved this problem?

zp2546265641 commented 2 months ago

Looking at whole body ik plugin by @davetcoleman , I am realizing that this mimic joint becomes a serious problem. A way to bypass it must be found. The repo won't be able to keep up with MoveIt! changes regarding humanoid/whole body ik improvements. Unless we edit everything to include mimic joints! 😛

So, I believe a focus towards that direction should be made (by-passing the mimic joint)... hello, and later, do you have solutions for such error? i need your help, thank you very much!

zp2546265641 commented 2 months ago

I'm trying to find a solution too, I think that we shoudl be able to find a solution at the URDF level. Some kind of standard HipJoint that both LHipPitchYaw and RHipPitchYaw can command. But I haven't tried anything in this direction yet. I'll let you know if I find something.

2015-02-25 7:55 GMT-05:00 Konstantinos Chatzilygeroudis < notifications@github.com>:

I am trying to find a solution.. I will post here if I find anything..Any news on that from your side? A quick fix would be to create the chain manually by selecting the joints, but then right leg would not be connected to base_link (torso) which is something we want to.. — Reply to this email directly or view it on GitHub #3 (comment) . hello, and later, do you have solutions for such error? and which cause this error, i need your help, thank you very much!