Jose_UTEC

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About Jose_UTEC

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    UTEC

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  1. Jose_UTEC

    Can't enable robot

    Thanks for you reply Pat. This issue have taken more than one week. So, I am worry because that's part of my thesis project. Please, If you have any solution or recommendation write in this post.
  2. Jose_UTEC

    Can't enable robot

    I have a several problem because the robot can't be enable or move by hand. When I read robot/state I have the following msg: ---- homed: False ready: False enabled: False stopped: True lowVoltage: False estop_button: 2 estop_source:1 ---- So I changed from SDK to Intera interface and give me: "Safety Controller shut off power to arm". When I tried to use rosrun intera_interface enable_robot.py -e the terminal take some time but finally give me *enable to reset*. I h ave already read http://sdk.rethinkrobotics.com/intera/E-STOP_and_Enable_Robot article but the solution don't work. Please, some advice about this problem.
  3. Jose_UTEC

    Change frequency for publisher topic

    Thanks for your reply. I have already change the publish frequency and works ok. I add to my code ``` rate = rospy.Rate(f) for n in xrange(ext): my_msg.position=[j[0][n],j[1][n],j[2][n],j[3][n],j[4][n],j[5][n],j[6][n]] my_msg.velocity=[v[0][n],v[1][n],v[2][n],v[3][n],v[4][n],v[5][n],v[6][n]] my_msg.acceleration=[a[0][n],a[1][n],a[2][n],a[3][n],a[4][n],a[5][n],a[6][n]] pub.publish(my_msg) rate.sleep() ``` In another hand, I saw some perturbations in the motion in frequency more than 400 Hz. Please use with caution!
  4. Jose_UTEC

    Change frequency for publisher topic

    Hello! I have read: "By default, all the joint control publishers and subscribers provided by the Sawyer SDK run at 100Hz, but can be run up to a rate of 800Hz reliably. See the links for more detailed explanations" How can I change the frequency? Is there a topic or configuration. I have been looking without result. Thanks for your time . Source: http://sdk.rethinkrobotics.com/intera/Arm_Control_Systems#Joint_Trajectory-Position_Control
  5. Jose_UTEC

    Joint trajectory format

    I have tried to use .set_joint_trajectory. It's working with one joint but I have problem with multiple joint. The error msg is attached. def set_j(): limb = intera_interface.Limb('right') limb.move_to_neutral() names=["right_j6","right_j5"] positions=[[-2.42577,-2.46446,-2.49639,-2.52226,-2.54279,-2.55868,-2.57063,-2.57935,-2.58555,-2.58992,-2.59318,-2.59602,-2.59916,-2.6033,-2.60914,-2.6174,-2.62876,-2.64395,-2.66367,-2.68861,-2.71949,-2.75664,-2.79891,-2.8448,-2.89279,-2.94136,-2.989,-3.0342,-3.07544,-3.11121,-3.14,-3.16072,-3.174,-3.1809,-3.1825,-3.17984,-3.174,-3.16603,-3.157,-3.14797,-3.14,-3.13394,-3.1298,-3.12736,-3.1264,-3.12672,-3.1281,-3.13033,-3.1332,-3.13649,-3.14,-3.14351,-3.1468,-3.14967,-3.1519,-3.15328,-3.1536,-3.15264,-3.1502,-3.14606,-3.14],[0.91,0.862531,0.815121,0.768189,0.722156,0.677442,0.634467,0.593652,0.555416,0.520181,0.488365,0.460391,0.436677,0.417644,0.403712,0.395302,0.392834,0.396728,0.407404,0.425283,0.450785,0.484025,0.523899,0.568998,0.617913,0.669234,0.721554,0.773462,0.82355,0.870408,0.912628,0.948976,0.978928,1.00213,1.01824,1.0269,1.02776,1.02047,1.00468,0.980052,0.946223,0.903247,0.852784,0.796894,0.737636,0.677072,0.617261,0.560263,0.508139,0.462949,0.426753,0.401611,0.389584,0.392731,0.413112,0.452789,0.51382,0.598267,0.70819,0.845648,1.0127]] velocities=[[-0.386873,-0.319299,-0.258777,-0.205306,-0.158887,-0.119519,-0.0872025,-0.0619379,-0.0437248,-0.0325633,-0.0284533,-0.0313949,-0.0413881,-0.0584328,-0.0825292,-0.113677,-0.151876,-0.197127,-0.24943,-0.308784,-0.371491,-0.422757,-0.458884,-0.479871,-0.485718,-0.476426,-0.451994,-0.412422,-0.357711,-0.28786,-0.207164,-0.132797,-0.0690547,-0.0159357,0.0265595,0.0584309,0.0796785,0.0903023,0.0903023,0.0796785,0.0605556,0.0414328,0.0244347,0.00956141,-0.00318714,-0.0138109,-0.02231,-0.0286842,-0.0329338,-0.0350585,-0.0350585,-0.0329338,-0.0286842,-0.02231,-0.0138109,-0.00318714,0.00956141,0.0244347,0.0414328,0.0605556,0],[-0.474686,-0.474104,-0.469319,-0.460331,-0.447141,-0.429749,-0.408153,-0.382356,-0.352355,-0.318153,-0.279747,-0.237139,-0.190329,-0.139315,-0.0840997,-0.0246815,0.0389393,0.106763,0.178789,0.255017,0.332399,0.39874,0.450989,0.489148,0.513217,0.523194,0.519081,0.500877,0.468583,0.422198,0.363487,0.299511,0.232035,0.161059,0.086583,0.00860702,-0.072869,-0.157845,-0.246321,-0.338297,-0.429756,-0.504631,-0.558903,-0.592574,-0.605643,-0.59811,-0.569976,-0.521239,-0.451901,-0.361961,-0.251419,-0.120276,0.0314695,0.203817,0.396766,0.610316,0.844469,1.09922,1.37458,1.67054,1.67054]] accelerations=[[0.67574,0.605225,0.534709,0.464193,0.393678,0.323162,0.252647,0.182131,0.111615,0.0410995,-0.0294161,-0.0999318,-0.170447,-0.240963,-0.311479,-0.381994,-0.45251,-0.523026,-0.593541,-0.627072,-0.512661,-0.361265,-0.209869,-0.0584728,0.0929232,0.244319,0.395715,0.547111,0.698507,0.806965,0.743666,0.637428,0.53119,0.424952,0.318714,0.212476,0.106238,4.44089e-14,-0.106238,-0.191228,-0.191228,-0.169981,-0.148733,-0.127486,-0.106238,-0.0849904,-0.0637428,-0.0424952,-0.0212476,0,0.0212476,0.0424952,0.0637428,0.0849904,0.106238,0.127486,0.148733,0.169981,0.191228,-0.605556,0],[0.00582343,0.0478491,0.0898747,0.1319,0.173926,0.215952,0.257977,0.300003,0.342029,0.384054,0.42608,0.468106,0.510131,0.552157,0.594183,0.636208,0.678234,0.72026,0.762285,0.773822,0.663404,0.522497,0.38159,0.240683,0.0997759,-0.0411311,-0.182038,-0.322945,-0.463852,-0.587108,-0.639759,-0.67476,-0.70976,-0.74476,-0.77976,-0.81476,-0.849761,-0.884761,-0.919761,-0.914592,-0.748743,-0.542726,-0.336708,-0.13069,0.0753281,0.281346,0.487364,0.693382,0.8994,1.10542,1.31144,1.51745,1.72347,1.92949,2.13551,2.34152,2.54754,2.75356,2.95958,2.95958,2.95958]] limb.set_joint_trajectory(names, positions, velocities, accelerations)
  6. Jose_UTEC

    Sawyer Vector Images

    Hello community, I am writing a paper about the Sawyer. In order, to present graphics about architecture I am looking for vector image about the Sawyer. Do you know where can find it?