Issue with the eyes when running iKinGazeCtrl

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Issue with the eyes when running iKinGazeCtrl

Plinio Moreno-2
Dear all,

Running just the robotInterface and the iKinGazeCtrl on our updated
version of the robot, we found a problem when issuing target fixations
points as follows:

yarp write ... /iKinGazeCtrl/xd:i
yarp: Port /tmp/port/1 active at tcp://10.10.1.199:10007
yarp: Sending output from /tmp/port/1 to /iKinGazeCtrl/xd:i using tcp
 >>-0.4 0 0
 >>-0.4 0.4 0
 >>-0.4 -0.4 0
 >>-0.4 0 0

Given these points, the eyes should be pointing down. But in this video
(http://youtu.be/h4XGW2a6Z_c) you can see that the eyes' tilt and
vergence are not acting as expected. I verified using the robotMotorGui
that the eyes move properly.

I'm attaching the output of the robotInterface, iKinGazeCtrl and the
configuration files of the gaze controller.

Any idea on what should I check would be very appreciated.

Best regards,

--
___________________

Plinio Moreno López
http://www.isr.ist.utl.pt/~plinio
[hidden email]
___________________


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outputGaze.txt (6K) Download Attachment
outputRobotInterface.txt (305K) Download Attachment
icubEyes320x240.ini (1K) Download Attachment
iKinGazeCtrl.ini (114 bytes) Download Attachment
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Issue with the eyes when running iKinGazeCtrl

Plinio Moreno-2

Dear all,

Running just the robotInterface and the iKinGazeCtrl on our updated
version of the robot, we found a problem when issuing target fixations
points as follows:

yarp write ... /iKinGazeCtrl/xd:i
yarp: Port /tmp/port/1 active at tcp://10.10.1.199:10007
yarp: Sending output from /tmp/port/1 to /iKinGazeCtrl/xd:i using tcp
  >>-0.4 0 0
  >>-0.4 0.4 0
  >>-0.4 -0.4 0
  >>-0.4 0 0

Given these points, the eyes should be pointing down. But in this video
(http://youtu.be/h4XGW2a6Z_c) you can see that the eyes' tilt and
vergence are not acting as expected. I verified using the robotMotorGui
that the eyes move properly.

I'm attaching the output of the robotInterface, iKinGazeCtrl and the
configuration files of the gaze controller.

Any idea on what should I check would be very appreciated.

Best regards,

--
___________________

Plinio Moreno López
http://www.isr.ist.utl.pt/~plinio
[hidden email]
___________________





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Comply to PCI DSS 3.0 Requirement 10 and 11.5 with EventLog Analyzer
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outputGaze.txt (8K) Download Attachment
outputRobotInterface.txt (395K) Download Attachment
icubEyes320x240.ini (2K) Download Attachment
iKinGazeCtrl.ini (152 bytes) Download Attachment
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Re: Issue with the eyes when running iKinGazeCtrl

pattacini
In reply to this post by Plinio Moreno-2
Hi Plinio,
I've noticed the presence of group ALIGN_KIN_RIGHT in the icubEyes320x240.ini file loaded at launch.
Try to remove it and do it the test again.

Ciao,
Ugo

> -----Original Message-----
> From: Plinio Moreno [mailto:[hidden email]]
> Sent: 02 October 2014 15:11
> To: Mailing List RobotCub-Hackers
> Subject: [rc-hackers] Issue with the eyes when running iKinGazeCtrl
>
> Dear all,
>
> Running just the robotInterface and the iKinGazeCtrl on our updated version
> of the robot, we found a problem when issuing target fixations points as
> follows:
>
> yarp write ... /iKinGazeCtrl/xd:i
> yarp: Port /tmp/port/1 active at tcp://10.10.1.199:10007
> yarp: Sending output from /tmp/port/1 to /iKinGazeCtrl/xd:i using tcp
>  >>-0.4 0 0
>  >>-0.4 0.4 0
>  >>-0.4 -0.4 0
>  >>-0.4 0 0
>
> Given these points, the eyes should be pointing down. But in this video
> (http://youtu.be/h4XGW2a6Z_c) you can see that the eyes' tilt and vergence
> are not acting as expected. I verified using the robotMotorGui that the eyes
> move properly.
>
> I'm attaching the output of the robotInterface, iKinGazeCtrl and the
> configuration files of the gaze controller.
>
> Any idea on what should I check would be very appreciated.
>
> Best regards,
>
> --
> ___________________
>
> Plinio Moreno López
> http://www.isr.ist.utl.pt/~plinio
> [hidden email]
> ___________________


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Achieve PCI DSS 3.0 Compliant Status with Out-of-the-box PCI DSS Reports
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Comply to PCI DSS 3.0 Requirement 10 and 11.5 with EventLog Analyzer
http://pubads.g.doubleclick.net/gampad/clk?id=154622311&iu=/4140/ostg.clktrk
_______________________________________________
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