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Create trunkAndLeftArmKinematics.ini and trunkAndRightArmKinematics.ini #12

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rsantos88 opened this issue May 7, 2018 · 9 comments
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@rsantos88
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ToDo: create trunkAndLeftArmKinematics.ini and trunkAndRightArmKinematics.ini to use with KDL

@rsantos88
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I'll assign this issue to you, @jgvictores (if you are agree) because I think it's very useful and interesting to have this files working as soon as possible and you should know how to do that

@jgvictores
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Sounds good. I've opened related #13

@rsantos88
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Ok, I've been doing some tests:
Now, we run the BasicCartesianControl with this parameters:

yarpdev --device BasicCartesianControl --name /teoSim/trunkAndRightArm/CartesianControl --from /usr/local/share/teo-configuration-files/contexts/kinematics/trunkAndRightArmKinematics.ini --angleRepr axisAngle --robot remote_controlboard --local /BasicCartesianControl/teoSim/trunkAndRightArm --remote /teoSim/trunkAndRightArm

It works ok, no errors.

teo@teo-oliver:~$ yarp rpc /teoSim/trunkAndRightArm/CartesianControl/rpc:s
>>stat
Response: [ccnc] 7.19504487435053e-18 -0.34692 -0.220306 1.92367069372179e-16 1.5707963267949 9.61835346860895e-17
>>inv 7.19504487435053e-18 -0.34692 -0.220306 1.92367069372179e-16 1.5707963267949 9.61835346860895e-17
Response: 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0

With the right elbow rotated 90 degrees, this is the result:

>>stat
Response: [ccnc] 0.386992263498608 -0.34692 0.125097801050256 2.44666614971685e-16 0.113446401379631 6.94658861621753e-18
>>inv  0.386992263498608 -0.34692 0.125097801050256 2.44666614971685e-16 0.113446401379631 6.94658861621753e-18
Response: 0.0 0.0 0.0 0.0 0.0 83.5 0.0 1.41562597847745e-13

If I try to use movj with this values, this is the final pose of the robot:
image
And the inverse kinematic is:

>>inv  0.386992263498608 -0.34692 0.125097801050256 2.44666614971685e-16 0.113446401379631 6.94658861621753e-18
Response: -18.4847513039382 -17.4710327794713 25.8363553378364 4.48498792884712 -37.501977875285 19.494286664461 25.3048920057904 22.8876940117882

@jgvictores
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jgvictores commented May 16, 2018

FK of trunkAndRightArmKinematics.ini returns the same results of rightArmKinematics.ini, so taking as valid. IK goes out of joint limits, will open new issue.

Will continue with trunkAndLeftArmKinematics.ini.

@jgvictores
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WIP on issue-13-trunk branch, currently 3f09520 with trunkAndLeftArmKinematics.ini.

@jgvictores
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Turns out trunkAndRightArmKinematics.ini was merged at cf9bb81 as part of #13 duplicate I created.

  • Closing the duplicate
  • Also removing the testing required as this has been tested (well, we do know it is dangerous and not thread-safe)

@jgvictores
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Branch with trunkAndLeftArmKinematics.ini rebased and merged at 89d6e27.

@jgvictores
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PS: Obviously will be reviewed at roboticslab-uc3m/teo-main#38

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