Open NoWiS- opened 9 years ago
mikaelarguedas
commented
9 years ago Indeed the joint L/RHand are not simulated properly (if you check at the joint states the values are out of bond and oscillating). This result in a weird visualisation of the fingers. Thanks for posting the issue,
NoWiS-
commented
9 years ago It also affect the whole physical body, making it shake/unstable.
raghunaik2009
commented
8 years ago any update? I'm facing similar issue
jackietom
commented
6 years ago I cut the hands... The robot is still shaking and moving slowly. I think the reason is that the PID is not so appropriate that the arm and other joints are still oscillating slightly.
jackietom
commented
6 years ago I think I have found a solution to this problem.
maxymczech
commented
6 years ago @jackietom I think the fingers in NAO robot are controlled by a single motor/joint (LHand and RHand) and the finger joints are set to mimic the corresponding hand joint.
soniatechie
commented
5 years ago Hi! has anyone found a solution for this issue? Thanks!!
maxymczech
commented
5 years ago I didn't need fingers in my project so I just removed them from URDF file :D https://www.youtube.com/watch?v=v2K6vjHUub0
soniatechie
commented
5 years ago Yeah, is a good solution but I need the fingers...
Just for sharing some information: I was using ROS Kinetic with Gazebo 7, but I found the "gravity bug" that makes Nao fly as it hasn't weight, so I installed Gazebo 9 on Kinetic, as commented on this comment: https://github.com/ros-naoqi/pepper_virtual/issues/14#issuecomment-471231252
To install Gazebo 9 in Kinetic I just follow this tutorial from Gazebo web: http://gazebosim.org/tutorials/?tut=ros_wrapper_versions
So, installing Gazebo 9 solved the gravity issue, but I still have the problem of the fingers.
I attach a video of the problem.
At the begging I thought the problem was that the weight of the fingers is 0 in Gazebo, but when I reviewed the URDF it is almost 0 (10^-9). I'm not sure if it can affect.
maxymczech
commented
5 years ago I had same problems as you. I have used ROS Melodic, Gazebo 9, nao_virtual package (but not main branch, there was a dev branch for Melodic, this was 6 months ago, don't know the current status on that). This configuration worked fine in all aspects except the fingers. Sorry, I do not know how to solve your problem :(
micco00x
commented
3 years ago Hi,
I have played with PID gains a little bit using rqt_reconfigure. What I have found is that setting arm gains in the following way:
RElbowYaw: {p: 100.0, i: 100.0, d: 0.0}
RElbowRoll: {p: 100.0, i: 100.0, d: 0.0}
RHand: {p: 0.0, i: 0.0, d: 0.0}
LElbowYaw: {p: 100.0, i: 100.0, d: 0.0}
LElbowRoll: {p: 100.0, i: 100.0, d: 0.0}
LHand: {p: 0.0, i: 0.0, d: 0.0}makes the fingers stop moving. There is no need to modify the URDF or other files as mentioned above.
Hi,
I have an issue with the fingers of the simulated nao. Right after starting the simulation they are moving around like this:
The console log does not seems to tell much, except maybe the last line:
Launched on a chrooted ubuntu 12.04, with latest ros-indigo packages.