Review and Unify TEO model joint limits

[PeterBowman]

Original issue: roboticslab-uc3m/kinematics-dynamics#31

Robot model joint limits reference should be in https://github.com/roboticslab-uc3m/teo-software-manual/blob/master/appendix/a-teo-diagrams.md

The following is a list of models to potentially be updated.

• .ini of launch files: https://github.com/roboticslab-uc3m/teo-configuration-files/tree/develop/share/launchManipulation and https://github.com/roboticslab-uc3m/teo-configuration-files/tree/develop/share/launchLocomotion
• .ini of kinematics files: https://github.com/roboticslab-uc3m/teo-configuration-files/tree/develop/share/kinematics
• Openrave models: https://github.com/roboticslab-uc3m/teo-openrave-models
• Gazebo models: https://github.com/roboticslab-uc3m/teo-gazebo -> Unify robot GAZEBO model joint directions and limits legacy-teo-gazebo#5
• ROS URDF model: https://github.com/roboticslab-uc3m/teo-ros-simulation -> Unify robot ROS model joint limits teo-ros-simulation#4
• ArmarX models: https://github.com/roboticslab-uc3m/teo-simox-models -> Update joint directions and limits teo-simox-models#3

[PeterBowman]

From @RaulFdzbis on May 3, 2016 12:34

Gazebo model and Ros Gazebo model, were already updated in 7718f22 and a6199bc with the joint limits used by the KdlSolver in teo_main.

[jgvictores]

Blocked by roboticslab-uc3m/teo-developer-manual#10 as the entry point will be teo-software-manual

[jgvictores]

Unblocked. We should put the official values at: https://github.com/roboticslab-uc3m/teo-software-manual/blob/master/appendix/a-teo-diagrams.md

[jgvictores]

Have to consult if the joint limits currently at: https://github.com/roboticslab-uc3m/teo-configuration-files/tree/develop/share/kinematics are the ones that should be copied to the official value place: https://github.com/roboticslab-uc3m/teo-software-manual/blob/master/appendix/a-teo-diagrams.md

[rsantos88]

I saw that those limits (at https://github.com/roboticslab-uc3m/teo-configuration-files/tree/develop/share/kinematics) are not the same as the .ini values

[jgvictores]

Not very sure to what you refer. Updated top description:

Robot model joint limits reference should be in https://github.com/roboticslab-uc3m/teo-software-manual/blob/master/appendix/a-teo-diagrams.md

The following is a list of models to potentially be updated.

• .ini of launch files: https://github.com/roboticslab-uc3m/teo-configuration-files/tree/develop/share/launchManipulation and https://github.com/roboticslab-uc3m/teo-configuration-files/tree/develop/share/launchLocomotion
• .ini of kinematics files: https://github.com/roboticslab-uc3m/teo-configuration-files/tree/develop/share/kinematics
• Openrave models: https://github.com/roboticslab-uc3m/teo-openrave-models
• Gazabo models: https://github.com/roboticslab-uc3m/teo-gazebo-models, teo_batc: (Gazebo model), (ROS Gazebo model).
• ArmarX models: https://github.com/roboticslab-uc3m/teo-simox-models

[jgvictores]

Note that maximum velocities and accelerations are also relevant!

[jgvictores]

Blocked, because ideally we would get these values from the real robot, which is currently being modified, see issues on https://github.com/roboticslab-uc3m/teo-hardware-manual

[AlvaroMartinezR]

What a coincidence, I was talking about the limits of TEO yesterday with @smcdiaz and he said thet the best I idea will be to test and obtain the values from the actual real robot like @jgvictores said:

Blocked, because ideally we would get these values from the real robot, which is currently being modified, see issues on https://github.com/roboticslab-uc3m/teo-hardware-manual

The actual status of the robot only allow us to operate with locomotion, he has no arms. @rsantos88 and me are going to do it.

ArmarX models: https://github.com/roboticslab-uc3m/teo-simox-models

PS: I am responsible for teo-simox-models so next time assign or mention me please.

[jgvictores]

PS: I am responsible for teo-simox-models so next time assign or mention me please.

@AlvaroMartinezR No problem! Just in case, I would also recommend you to watch this repo. :-)

[AlvaroMartinezR]

Blocked (again) by #29

[rsantos88]

@AlvaroMartinezR and me have collected all the mechanical limits from the real robot.
See the table below:

Joint mechanical limits

Limb	Link	Upper limit	Lower limit
Right arm	1	103.075569	-93.479797
	2	-80.474518	34.622143
	3	85.149384	-62.021088
	4	88.488579	-37.943756
	5	79.701233	-54.376099
	6	112.478027	-61.933228
Left arm	1	-98.488586	92.618629
	2	79.525482	-34.253082
	3	-87.504395	59.753952
	4	-106.133575	19.156414
	5	-81.441132	74.604568
	6	-108.945526	64.850616

Also with the plate for teo-waiter:

Limb	Link	Upper limit	Lower limit
Left arm	6 with plate	-57.803162	65.641472

Now, we are going to polish them: lower them and make them symmetric. Lower them because these are the absolute mechanical limits, working with them will be quite dangerous for TEO.
You can see the actual results here.
The joint limits are quite high. What do you think about them?
For example:

Limb	Link	Upper limit	Lower limit
Right arm	1 (Raw values)	103.075569	-93.479797
Right arm	1 (Edited)	90	-90

[jgvictores]

Proposal: hard limits vs soft limits, documenting both.

[AlvaroMartinezR]

@jgvictores Yeah, that was the idea, but my question was if you think the thresholds are acceptable.

[jgvictores]

I'd ask @smcdiaz 's opinion on that.

[jgvictores]

Spoken with @smcdiaz Question for starters: Were these values taken via the absolute or relative encoders?

[jgvictores]

A more detailed explanation of what I spoke with @smcdiaz :

1. Determine number of relevant decimal values (depends on abs/rel encoder).
2. Establish a fixed tolerance values.

Example: 103.075569 | -93.479797 -> 1 decimal -> 103.1 | -93.5 -> 5 degrees -> 98.1 | -88.5.

[jgvictores]

No problem! As commented 😃2😃, make all changes required (e.g. touch simulator if needed, not as part of a final solution, because still blocked by #39). 👍

[rsantos88]

Perfect!! Just to keep in mind that I'm currently using those limits in TEO, installed in the manipulation computer, making use of the branch new-limits-reviewed 👍

[jgvictores]

This issue will be tedious, but a also a great opportunity to establish several ranges of joint limits (physical, driver-level recommended, software-level recommended, human-like...)!

[rsantos88]

Pending of: #39

[rsantos88]

No more pending of: #39

[jgvictores]

@rsantos88 IMHO you can already close this issue, and next week we can start working on kinematics at #38 !!

[rsantos88]

Perfect. Thanks

[PeterBowman]

Leg joint limits are asymmetrical. For instance (ref), [-14.1,12.5] on the second joint, right leg, would imply [14.1,-12.5] on the same joint, left leg. Of course, better check this manually again, avoiding a mere replication of values. Might affect the arms, too.

[rsantos88]

I've modified some joint limits and I recommend you to check your walk experiments with the new changes using this branch of teo-openrave-models. I've only changed the limits of some joints of the left leg (which are cloned from the right leg). Remember that these values, therefore, haven't been checked with the real joints of the robot. They are replicated with respect to the right leg.

[rsantos88]

changes reflected also in this commit of teo-developer-manual, branch fix-asymmetrical-joint-limits

[PeterBowman]

Thanks, @rsantos88. Successfully checked on simulation, just two more things:

• roboticslab-uc3m/teo-developer-manual@fd83242#r34173979 (might need to be changed in the .ods file, too)
• launchLocomotion.ini was not updated

[rsantos88]

Thanks, @rsantos88. Successfully checked on simulation, just two more things:

Thanks @PeterBowman! that's just what I was waiting for. Now I can update launchLocomotion.ini.

• roboticslab-uc3m/teo-developer-manual@fd83242#r34173979 (might need to be changed in the .ods file, too)

yes! if you look at it, the file has already been modified but github recognizes it as binary and can not show the changes

I'll update all the changes related (do PR.. etc) and close this issue

[rsantos88]

• roboticslab-uc3m/teo-developer-manual@fd83242#r34173979 (might need to be changed in the .ods file, too)

fixed at 8b56857ac09b83c9576bd8085ec6c3b9443a67f3

[rsantos88]

Changes merged:

• fixed asymmetrical-joint-limits of left leg teo-developer-manual#61
• roboticslab-uc3m/teo-configuration-files@d588723
• roboticslab-uc3m/teo-openrave-models@c4205a8

f you are agree, close the issue

[PeterBowman]

Closing, thanks!