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  • wyojustin
    Participant
    Post count: 16

    Some Joy!! (Copied from slack channel)
    Ok, here is was my path from many failures to success:
    1. Effed up N1 by emulating a joystick in python and hitting the “speed up” button. Also double speed restrictions (less restrictive). That sped things up, but the motors seemed to stall out. Changing everything back, did not fix motor stall problem.
    2. Upgraded firmware to start all over. Now N1 would not calibrate as more tension is required on the stepper axes.
    3. Tightened timing belts, cracked N1 tensioner. Fixed with 3D printed/glued part.
    4. Tensioning belts did not fix calibration on new 2.1.0 sw. Rolled back to 2.0.0.
    5. Stripped motor threads. Screws from either end of the motor were butting up against each other with the motor mount screw not having enough purchase. I backed off the screws on the back side to make room for the mounting screws. I didn’t have the right size screw, so I fixed with a screw AND nut. New system has plenty of bite.
    6. Tightened the SNOT out of all timing belts. 2.0.0 works! Woot!
    7. Tested 2.1.0. WORKS!!!!
    One suggestion @Edouard Renard, make screw mount screws 2mm longer and through screws 4mm shorter (or thread opposite site and use same size screws on each side).

    Spoke too soon. New 2.1.0 code has the same stalling problem as 2.0.0. Now I need to resolve the stalling problem as it has infected both versions of the code. I will start a new thread if I can’t find the solution.

    wyojustin
    Participant
    Post count: 16

    No joy. First thing I did this morning is run the 2.0.0 code. Axis two chattered. I tried tensioning both axis two and axis three. Axis two still continues to chatter and worse, when I tightened the screws I stripped one (another appeared to be stripped when it arrived). Anyway, it looks like I need a new motor for axis two (shoulder axis). Can you point me to a part number?

    wyojustin
    Participant
    Post count: 16

    Ok, I can confirm that BACK of the tool connector is the reference point. Thanks for looking into this! Issue is closed.

    wyojustin
    Participant
    Post count: 16

    Thanks for checking. I will repeat the experiment when I return home tomorrow.

    wyojustin
    Participant
    Post count: 16

    Ok, I think I’ve cracked it! From the Mechanical Spec, I compute that the neutral position (all joints set to zero) of the tool connector is:

    x = 41.5 + 180 + 23.7 = 245.2 and
    z = 103 + 80 + 210 + 30 – 5.5 = 417.5

    When I command Niryo RVis simulation to set the neutral position and call niryo.get_arm_pose() I get this:

    position:
    x: 0.237907495458
    y: -4.02967428798e-06
    z: 0.417474425233
    rpy:
    roll: -6.90657038956e-05
    pitch: 4.93150197529e-05
    yaw: -1.60822293274e-05

    which is off by about 7mm in x.

    Checking in Rvis:
    TF->hand_link-> Relative position, I see the x offset is set to 16.4mm in stead of 23.7mm. That account for the descrepency.

    • This reply was modified 8 months, 3 weeks ago by  wyojustin.
    wyojustin
    Participant
    Post count: 16

    Thanks! Looking forward to get update.

    wyojustin
    Participant
    Post count: 16

    Yes!  That is my point exactly.  The modeled xy-plane does not agree with the actual xy-plane.  This is on two separate arms, so I think the problem is systemic. The top image below shows that the modeled xy-plane is level with the base. The bottom image shows that the actual position is over a cm below the base.

     

    xy-plane modeled

    xy-plane actual

    • This reply was modified 8 months, 3 weeks ago by  wyojustin.
    wyojustin
    Participant
    Post count: 16
    in reply to: Joystick control #4514

    Thanks for the quick reply 🙂 I have the xbox conroller plugged into the Niryo One rpi. The X on the controller, just flashes. It glows solid when plugged into a windows machine.

    When I issue $ ls /dev/input I get this:

    niryo@niryo-pc:~$ ls /dev/input
    by-id by-path event0 js0 miceDriver version is 2.1.0.

    When I issue jstest /dev/input/js0 I get this (and it does not change)

    Joystick (Generic X-Box pad) has 8 axes (X, Y, Z, Rx, Ry, Rz, Hat0X, Hat0Y)
    and 11 buttons (BtnX, BtnY, BtnTL, BtnTR, BtnTR2, BtnSelect, BtnThumbL, BtnThumbR, ?, ?, ?).
    Testing … (interrupt to exit)
    Axes: 0: 0 1: 0 2: 0 3: 0 4: 0 5: 0 6: 0 7: 0 Buttons: 0:off 1:off 2:off 3:off 4:off Axes: 0: 0 1: 0 2: 0 3: 0 4: 0 5: 0 6: 0 7: 0 Buttons: 0:off 1:off 2:off 3:off 4:off Axes: 0: 0 1: 0 2: 0 3: 0 4: 0 5: 0 6: 0 7: 0 Buttons: 0:off 1:off 2:off 3:off 4:off Axes: 0: 0 1: 0 2: 0 3: 0 4: 0 5: 0 6: 0 7: 0 Buttons: 0:off 1:off 2:off 3:off 4:off Axes: 0: 0 1: 0 2: 0 3: 0 4: 0 5: 0 6: 0 7: 0 Buttons: 0:off 1:off 2:off 3:off 4:off Axes: 0: 0 1: 0 2: 0 3: 0 4: 0 5: 0 6: 0 7: 0 Buttons: 0:off 1:off 2:off 3:off 4:off Axes: 0: 0 1: 0 2: 0 3: 0 4: 0 5: 0 6: 0 7: 0 Buttons: 0:off 1:off 2:off 3:off 4:off Axes: 0: 0 1: 0 2: 0 3: 0 4: 0 5: 0 6: 0 7: 0 Buttons: 0:off 1:off 2:off 3:off 4:off Axes: 0: 0 1: 0 2: 0 3: 0 4: 0 5: 0 6: 0 7: 0 Buttons: 0:off 1:off 2:off 3:off 4:off Axes: 0: 0 1: 0 2: 0 3: 0 4: 0 5: 0 6: 0 7: 0 Buttons: 0:off 1:off 2:off 3:off 4:off Axes: 0: 0 1: 0 2: 0 3: 0 4: 0 5: 0 6: 0 7: 0 Buttons: 0:off 1:off 2:off 3:off 4:off Axes: 0: 0 1: 0 2: 0 3: 0 4: 0 5: 0 6: 0 7: 0 Buttons: 0:off 1:off 2:off 3:off 4:off Axes: 0: 0 1: 0 2: 0 3: 0 4: 0 5: 0 6: 0 7: 0 Buttons: 0:off 1:off 2:off 3:off 4:off Axes: 0: 0 1: 0 2:-32767 3: 0 4: 0 5: 0 6: 0 7: 0 Buttons: 0:off 1:off 2:off 3:off 4:off Axes: 0: 0 1: 0 2:-32767 3: 0 4: 0 5: 0 6: 0 7: 0 Buttons: 0:off 1:off 2:off 3:off 4:off Axes: 0: 0 1: 0 2:-32767 3: 0 4: 0 5: 0 6: 0 7: 0 Buttons: 0:off 1:off 2:off 3:off 4:off Axes: 0: 0 1: 0 2:-32767 3: 0 4: 0 5:-32767 6: 0 7: 0 Buttons: 0:off 1:off 2:off 3:off 4:off Axes: 0: 0 1: 0 2:-32767 3: 0 4: 0 5:-32767 6: 0 7: 0 Buttons: 0:off 1:off 2:off 3:off 4:off Axes: 0: 0 1: 0 2:-32767 3: 0 4: 0 5:-32767 6: 0 7: 0 Buttons: 0:off 1:off 2:off 3:off 4:off 5:off 6:off 7:off 8:off 9:off 10:off

    wyojustin
    Participant
    Post count: 16
    in reply to: Joystick control #4512

    Sorry to be so dense, but to what computer do I need to hook up the joystick to? The Niryo One rpi or the computer running Niryo Studio? I have an Xbox controller, but am getting no response from either system.

    Thanks,
    Justin

    wyojustin
    Participant
    Post count: 16

    SOLVED! Thank you! That did the trick.

    Justin

    wyojustin
    Participant
    Post count: 16

    Work around (temporary) solution: Steps to manually launch Niryo One from the command line.

    Indication: (after ssh to Niryo One)
    niryo@niryo-pc:~$ rosnode list
    ERROR: Unable to communicate with master!

    Problem: ROS Stack is not running

    Solution: Configure environment to launch ROS Stack on start up (this is not longer working for me)

    Work around: Lauch ROS Stack manually:
    niryo@niryo-pc:~$ roslaunch niryo_one_bringup rpi_setup.launch

Viewing 11 posts - 1 through 11 (of 11 total)