bug in velocity control for joint 4 in the simulator head?

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bug in velocity control for joint 4 in the simulator head?

cteulier
Dear all,

I noticed that when I send a given velocity v1 to the joint 4 of the iCub
simulator head, the actual velocity (from the encoders) is twice the
expected one.

...
velVect.set(4, v1);
vel.velocityMove(velVect.data());
...
v2 = enc.getEncoderSpeed(4);

The result gives me: v2 = 2*v1

Any idea where this comes from?

--
Céline




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Re: bug in velocity control for joint 4 in the simulator head?

Thusi
Hi Celine,

We have been having this issue with velocity commands, as well as some other problems with position commands for the joint 4 in the simulator as described in the post

 http://robotcub-hackers.2198711.n2.nabble.com/Errors-in-encoder-readings-and-position-control-of-head-joint-angles-td7578532.html.

But  still haven't had any clarifications on why this happens.  

Regards,
Thusitha
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Re: bug in velocity control for joint 4 in the simulator head?

Vadim Tikhanoff-2
Hi Celine and Thusitha,

Thank you for reporting this bug, I had a look together with Paul Fitzpatrick an we easily managed to replicate this error with a test module. In fact there was an error calculating the coupled axes. Subsequent tests confirmed the modification.
Please update the icub repository (simulator) for the corrected version.
We apologise for this oversight
Best
Vadim

 

On 01 Dec 2013, at 02:03, Thusi <[hidden email]> wrote:

> Hi Celine,
>
> We have been having this issue with velocity commands, as well as some other
> problems with position commands for the joint 4 in the simulator as
> described in the post
>
>
> http://robotcub-hackers.2198711.n2.nabble.com/Errors-in-encoder-readings-and-position-control-of-head-joint-angles-td7578532.html.
>
> But  still haven't had any clarifications on why this happens.  
>
> Regards,
> Thusitha
>
>
>
> --
> View this message in context: http://robotcub-hackers.2198711.n2.nabble.com/bug-in-velocity-control-for-joint-4-in-the-simulator-head-tp7578573p7578577.html
> Sent from the RobotCub Hackers mailing list archive at Nabble.com.
>
> ------------------------------------------------------------------------------
> Rapidly troubleshoot problems before they affect your business. Most IT
> organizations don't have a clear picture of how application performance
> affects their revenue. With AppDynamics, you get 100% visibility into your
> Java,.NET, & PHP application. Start your 15-day FREE TRIAL of AppDynamics Pro!
> http://pubads.g.doubleclick.net/gampad/clk?id=84349351&iu=/4140/ostg.clktrk
> _______________________________________________
> Robotcub-hackers mailing list
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> https://lists.sourceforge.net/lists/listinfo/robotcub-hackers


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Re: bug in velocity control for joint 4 in the simulator head?

marijnfs
In reply to this post by cteulier
Hey Celine!

Are you working on the iCub now too? How are you doing? Do you like your new job?

ciao!
Marijn Stollenga

On 29/11/13 15:22, cteulier [via RobotCub Hackers] wrote:
Dear all,

I noticed that when I send a given velocity v1 to the joint 4 of the iCub
simulator head, the actual velocity (from the encoders) is twice the
expected one.

...
velVect.set(4, v1);
vel.velocityMove(velVect.data());
...
v2 = enc.getEncoderSpeed(4);

The result gives me: v2 = 2*v1

Any idea where this comes from?

--
Céline




------------------------------------------------------------------------------
Rapidly troubleshoot problems before they affect your business. Most IT
organizations don't have a clear picture of how application performance
affects their revenue. With AppDynamics, you get 100% visibility into your
Java,.NET, & PHP application. Start your 15-day FREE TRIAL of AppDynamics Pro!
http://pubads.g.doubleclick.net/gampad/clk?id=84349351&iu=/4140/ostg.clktrk
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