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On 28th September, an attempt was made to launch a gait trajectory @Luis93A had prepared beforehand using https://github.com/robotology/walking-controllers and reworked TEO's SDF/URDF models. The dataset (involving both legs, both arms and the trunk) and the config file are uploaded here: teo-gait-20210927.zip. We used examplePlaybackThread from the tools repo in order to issue the joint commands.
The plan for said session was as follows:
- A dry-run of the offline-saved trajectory on the real robot (i.e. while lifted by its crane).
- Same trajectory, robot actually walking on the floor.
- Online-generated trajectory using FT sensor feedback.
We only managed to fulfill the first point, at least most of it. A control error was triggered in ID4 (right frontal hip). Currently, we are facing other blocking issues, though:
- CUI111 (frontal left ankle) was reporting weird values on start, usually around 60-67 degrees. This is probably a known issue, I think we already experienced a similar behavior in the past. On this occasion, Luís noticed the encoder was visibly damaged and it stopped responding altogether (i.e. no response from polling) later during the experiments. I suggest to replace this CUI.
- Prior to that, maybe related or not, faulty behavior was observed on left leg bus: Suppress TX transfers on CAN bus error state yarp-devices#246 (comment). However, this time no bus restarts seemed to occur, but we did observe an iPOS error pointing at a damaged connection with the relative encoder. If CUI111 is not the underlying cause for this, the wiring and connectors along the left leg bus should be closely inspected.
cc @smcdiaz
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