Progress Update: November 20, 2012

Alan:

  • robot now correctly displays actual state in rviz trajectory planning
  • customized robot controller so that it uses dynamixel controller instead of its own
  • In situations of high-torque, the ax-12 positions can become inaccurate and no longer zero-based.  The position is off by a fixed amount. To compensated, we sllowed a fudge factor to be add/subtracted from specified dynamixel ax-12 before sending to the ROS trajectory planning and rviz.
  • fixed a bug in dynamixel joint_position_controller_dual_motor.py
  • patched up launch and config files to be consistent with above
  • currently the arm linear actuators do not update frequently enough.  Possibly will split off separate python interpretters for each of the arms.
  • drilled holes and mounted some boards
  • replaced old extension cord with better and more elegant one
  • trajectory planning currently raises errors about invalid joint limits

Frank:

  • currently the arm linear actuators do not update frequently enough.  Possibly will split off separate python interpreters for each of the arms.
  • replaced old extension cord with a  more elegant one.

Matthew:

  • drilled holes and mounted some boards
  • Initial brainstorming about a new Pr2Lite transportation system
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