Wrong Actual Tool Pose

MattiaDeiRossi

Goodmorning, we are using our robot model AWTube_phaseA.glb with our mech_parameters.xml in our MCX project started from "Antrophomorphic" template project but with kdl solver.

Our Actual Tool Pose is wrong, but the issue is that on an older project called "Robofox_noFSOE" the same configuration works. Do you change anything related to the kinematics in the newest version of .bin ?

<?xml version="1.0" ?>
<robot name="AWTube_phaseA" numberDoFs="6" type="kdl_nrjl">
<basepose>
    <position x ="0.0" y="0.0" z="0.0"></position>
    <orientation a="0" b="0" c="0"></orientation>
</basepose>

  <segment number="1">
    <tippose>
        <position x ="0" y="0" z="0.117"></position>
    </tippose>
    <jointaxis>
      rot_z
    </jointaxis>
    <mass>
    0
    </mass>
    <inertia>
        <Ixx> 0  </Ixx>
        <Ixy>  0  </Ixy>
        <Ixz>  0  </Ixz>
        <Iyx>  0  </Iyx>
        <Iyy>  0  </Iyy>
        <Iyz>  0  </Iyz>
        <Izx> 0  </Izx>
        <Izy> 0   </Izy>
        <Izz>  0  </Izz>
    </inertia>
    <cog>
        <position x ="0" y="0" z="0"> </position>
    </cog>
  </segment>

   <segment number="2">
    <tippose>
        <position x ="0" y="0" z="0.725"></position>
    </tippose>
    <jointaxis>
      rot_y
    </jointaxis>
    <mass>
    0
    </mass>
    <inertia>
        <Ixx> 0   </Ixx>
        <Ixy> 0  </Ixy>
        <Ixz>  0  </Ixz>
        <Iyx>  0  </Iyx>
        <Iyy>  0  </Iyy>
        <Iyz>  0  </Iyz>
        <Izx>  0  </Izx>
        <Izy>  0  </Izy>
        <Izz>  0  </Izz>
    </inertia>
    <cog>
        <position x ="0" y="0" z="0"> </position>
    </cog>
  </segment>

    <segment number="3">
    <tippose>
        <position x ="0" y="0" z="0"></position>
    </tippose>
    <jointaxis>
      rot_y
    </jointaxis>
    <mass>
    0
    </mass>
    <inertia>
        <Ixx> 0   </Ixx>
        <Ixy>  0  </Ixy>
        <Ixz>  0  </Ixz>
        <Iyx> 0  </Iyx>
        <Iyy>  0  </Iyy>
        <Iyz>  0  </Iyz>
        <Izx>  0  </Izx>
        <Izy>  0 </Izy>
        <Izz> 0 </Izz>
    </inertia>
    <cog>
        <position x ="0" y="0" z="0"> </position>
    </cog>
  </segment>

    <segment number="4">
    <tippose>
        <position x ="0.675" y="0" z="0"></position>
    </tippose>
    <jointaxis>
      rot_x
    </jointaxis>
        <mass>
    0
    </mass>
    <inertia>
        <Ixx> 0   </Ixx>
        <Ixy>  0  </Ixy>
        <Ixz>  0  </Ixz>
        <Iyx> 0  </Iyx>
        <Iyy>  0  </Iyy>
        <Iyz>  0  </Iyz>
        <Izx>  0  </Izx>
        <Izy>  0 </Izy>
        <Izz> 0 </Izz>
    </inertia>
    <cog>
        <position x ="0" y="0" z="0"> </position>
    </cog>
  </segment>

    <segment number="5">
    <tippose>
        <position x ="0" y="0" z="-0.3681"></position>
    </tippose>
    <jointaxis>
      rot_y
    </jointaxis>
        <mass>
    0
    </mass>
    <inertia>
        <Ixx> 0   </Ixx>
        <Ixy>  0  </Ixy>
        <Ixz>  0  </Ixz>
        <Iyx> 0  </Iyx>
        <Iyy>  0  </Iyy>
        <Iyz>  0  </Iyz>
        <Izx>  0  </Izx>
        <Izy>  0 </Izy>
        <Izz> 0 </Izz>
    </inertia>
    <cog>
        <position x ="0" y="0" z="0"> </position>
    </cog>
  </segment>

    <segment number="6">
    <tippose>
        <position x ="0" y="0" z="0"></position>
    </tippose>
    <jointaxis>
      rot_z
    </jointaxis>
       <mass>
    0
    </mass>
    <inertia>
        <Ixx> 0   </Ixx>
        <Ixy>  0  </Ixy>
        <Ixz>  0  </Ixz>
        <Iyx> 0  </Iyx>
        <Iyy>  0  </Iyy>
        <Iyz>  0  </Iyz>
        <Izx>  0  </Izx>
        <Izy>  0 </Izy>
        <Izz> 0 </Izz>
    </inertia>
    <cog>
        <position x ="0" y="0" z="0"> </position>
    </cog>
  </segment>

  <tool-offset name="tool1">
      <position x ="0.0" y="0" z="0">
      </position>
      <orientation a="0" b="0" c="0">
      </orientation>
  </tool-offset>

</robot>

@Alex_Corrado

Alex_Corrado

Any updates @philippeH? I checked also the 3D files but we didn't find any issue. The difference between our model and the one in your example is the kinematic solver, we choose the KDL solver. Is this a problem?

AbhilashIngale

Alex_Corrado

The problem is related to new App-Config and not the binary. I was able to reproduce this issue on another project.

AbhilashIngale

Alex_Corrado

Please perform step-1 from this documentation thread and redeploy the App-Config: https://docs.motorcortex.io/docs/applications/configure_application/robot/robotmechanism/

I can confirm that this worked for me on another project.

MattiaDeiRossi

@AbhilashIngale
Following your suggestion, the left pad works well because now the eef pose is right, but the right pad doesn't work

philippeH

This is project specific,

You filled in wrongly your mech-parameters.xml file, either the rotations/or tipposes are incorrect.

I recommend starting from anthropomorphic solver, checkout:
https://docs.motorcortex.io/docs/motorcortex-io-tools/motorcortex-io/project-packages/config_package/mech/#anthropomorphic

MattiaDeiRossi

Hi,

we can't use anthropomorphic solver because we can't set the "zero position or homing position" like this

the ceiling is too low guys...

philippeH

This example about convention, how the solver is defined in a straight up position.
After the solver is correct, you can reference your joint angles to whatever you prefer.

If your robot is straight up this fits you robot correct??

philippeH