Forum Replies Created
FindingNiryoParticipantOctober 14, 2019 at 2:20 pmPost count: 105FindingNiryoParticipantSeptember 24, 2019 at 3:10 pmPost count: 105FindingNiryoParticipantSeptember 20, 2019 at 6:50 pmPost count: 105
NiryoOne hardware version 2
Niryo One Studio : 2.2.0
Raspberry Pi 3 image : 2.2.0
ROS : 2.2.0
11.1 Volt power supply
Still having problems with Rasperry Pi running hot “Robot Log: Rpi temperature is really high !”
Maybe have fan control in NiryoOne Studio Hardware Status (next to Pi Temperature)?
Maybe activate fan whenever high temperature is detected?FindingNiryoParticipantSeptember 18, 2019 at 5:04 pmPost count: 105FindingNiryoParticipantSeptember 18, 2019 at 3:42 pmPost count: 105
Have there been any changes in the Dynamixel controls for version 2.2?FindingNiryoParticipantSeptember 18, 2019 at 3:27 pmPost count: 105FindingNiryoParticipantSeptember 18, 2019 at 2:56 pmPost count: 105
Since upgrading arm and Studio to version 2.2 I have noticed significant lag between arm movement and display updates in Studio when running sequences in Blockley editor.
NiryoOneStudio.exe creates three threads the main thread takes 100% of its CPU core while idle. I presume this thread is responsible for maintaining the GUI by reading some packets and updating joint positions. This should not be 100% busy when performing so few functions (is Electron event driven? This is looks like infinite polling behavior without wait())
The Blockley XML loops through the 22 moves 10 times. At first the editor updates the cursor position after each move, the simulated robot graphic moves synchronously with the arm. After the second loop through the sequence there is an obvious lag between arm movements and screen updates. By the 4th pass the display is updating only every third move.FindingNiryoParticipantAugust 16, 2019 at 2:34 pmPost count: 105
Looks similar to errors I was having https://niryo.com/forums/topic/sequence-autorun-arbitrarily-stops-no-trajectory-defined-at-current-time/ Edouard Renard has made a change to address this (for the next release end of August/beginning of September).
If you can not wait you can apply the change:
SSH into the robot. https://niryo.com/docs/niryo-one/developer-tutorials/connect-to-the-raspberry-pi-3-via-ssh/
Stop the robot program
The change is this: ~catkin_ws/src/niryo_one_commander/scripts/robot_commander.py#L73
– Right after this line (“self.reset_controller()”) in the robot_commander.py file (and before “rospy.loginfo(‘Send Moveit trajectory’)), add this line : rospy.sleep(0.05)
Then you’ll need to reboot the robot or simply shutdown/restart the ROS stack.
OR you can apply this change from GitHub:
‘git pull’ and ‘catkin_make -j2’FindingNiryoParticipantAugust 1, 2019 at 2:44 pmPost count: 105
I see from your video that you got the gripper to work.
What was the problem and how did you fix it?FindingNiryoParticipantAugust 1, 2019 at 2:43 pmPost count: 105
Nice work, and a fun demonstrator.FindingNiryoParticipantJuly 25, 2019 at 4:15 pmPost count: 105
If you are using NiryoStudio to control the arm
please export the sequence to XML and paste here so we can see the desired behavior.
Also, is “Arm max. speed” 100%?
If you are using the arm command tab what is your gripper close speed?
Have you gotten any error codes for the gripper in the hardware status tab?
One gripper joint seems to be zip tied straight. Have you tried the gripper without freezing that link?
I suggest using a smaller cup:
1) Diameter of cup is greater than gripper width of 50mm
2) Cup holds about 350cc but arm max lift = 195 grams with gripper 3
FindingNiryoParticipantJuly 22, 2019 at 8:15 pmPost count: 105FindingNiryoParticipantJuly 17, 2019 at 1:54 pmPost count: 105
- This reply was modified 2 months, 4 weeks ago by FindingNiryo.
Thank you for the suggestion, and I appreciate your consideration. But for a classroom with twelve students and two robots wouldn’t your approach require at least 10 instances of Ubuntu running simulation? Unless perhaps you have implemented https://niryo.com/forums/topic/remote-control-multiple-niryoone-robots/ allowing each student to control a different robot simulation by port number rather than IP address…FindingNiryoParticipantJune 27, 2019 at 3:36 pmPost count: 105FindingNiryoParticipantJune 27, 2019 at 3:30 pmPost count: 105
Stepper #1 is the worst case scenario as far as multiple rotations (each rotation has a chance to return the same absolute position code).
Gear Ratio 6.0625
Min angle -3.05433
Max angle 3.05433
If the last known position is within +/-.011757 radians of the current position there is a 98% chance the joint has not moved and does not need to be recalibrated to establish joint position.