MyRobotLab
Virtual InMoov resting wrongly.
Problem: On giving "relax" command, the arms of virtual InMoov are going too much backward, i.e. the shoulder joint is resting at lower than expected value.
Description: I've written [SERVO_MINIMUM_MAP_OUTPUT], [SERVO_MAXIMUM_MAP_OUTPUT] & [SERVO_REST_POSITION] angles for the servos, and I keep Virtual Inmoov to be always running with Full InMoov. Also, I've changed the values being written in relax.py file according to the formula :
value = (MAXIMUM_INPUT-MINIMUM_INPUT)/(MAXIMUM_OUTPUT-MINIMUM_OUTPUT)*(REST_POSITION-MINIMUM_OUTPUT)+MINIMUM_INPUT
which is a simple formula for linear mapping. But, still, the arms of Virtual Inmoov are going too much backward.
My configs for right arm are
[SERVO_MINIMUM_MAP_OUTPUT] ;your servo minimal limits bicep=15 rotate=75 shoulder=70 omoplate=10 [SERVO_MAXIMUM_MAP_OUTPUT] ;your servo maximal limits bicep=90 rotate=180 shoulder=180 omoplate=70 [SERVO_REST_POSITION] bicep=15 rotate=120 shoulder=100 omoplate=10
Hello, You shouldn't change the "rest" positions in the config files. Only the output mappings. "rest" is calling some hardcoded servo behaviors, this must be the reason you get a difference between the virtual and the real. The virtual InMoov is to show how your real robot should behave. Nota: in Manticore version the jaw in virtual InMoov is not correct, it is open at "rest" and that is not okay.
Gael Langevin Creator of InMoov InMoov Robot http://www.inmoov.fr @inmoov http://twitter.com/inmoov
Le lun. 3 juin 2019 à 08:20, Avinash Thakur [email protected] a écrit :
Problem: On giving "relax" command, the arms of virtual InMoov are going too much backward, i.e. the shoulder joint is resting at lower than expected value. Description: I've written [SERVO_MINIMUM_MAP_OUTPUT], [SERVO_MAXIMUM_MAP_OUTPUT] & [SERVO_REST_POSITION] angles for the servos, and I keep Virtual Inmoov to be always running with Full InMoov. Also, I've changed the values being written in relax.py file according to the formula :
value = (MAXIMUM_INPUT-MINIMUM_INPUT)/(MAXIMUM_OUTPUT-MINIMUM_OUTPUT)*(REST_POSITION-MINIMUM_OUTPUT)+MINIMUM_INPUT
which is a simple formula for linear mapping. But, still, the arms of Virtual Inmoov are going too much backward.
My configs for right arm are
[SERVO_MINIMUM_MAP_OUTPUT] ;your servo minimal limits bicep=15 rotate=75 shoulder=70 omoplate=10 [SERVO_MAXIMUM_MAP_OUTPUT] ;your servo maximal limits bicep=90 rotate=180 shoulder=180 omoplate=70 [SERVO_REST_POSITION] bicep=15 rotate=120 shoulder=100 omoplate=10
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