Review and Unify TEO dynamic model

[PeterBowman]

From @jgvictores on April 20, 2016 10:59

Issue inherited from wiki, where work has been done (resulting in current TEO Diagrams). The following is a list of models to potentially be merged or linked somehow.

• Kinematics(DH)+Mass/Inertia used by KdlSolver: [1].
• OpenRAVE 3D and Kinematics used by teoSim: [2]
• Gazebo 3D and Kinematics+Mass/Inertia used by teo-ros-simulation: [3]

For future reference, links to Mass/Inertia (official based on mechanical schematics): .XLS and .PDF.

Updated on 16/08/17 by PeterBowman.

Copied from original issue: roboticslab-uc3m/kinematics-dynamics#29

[jgvictores]

From @AlvaroMartinezR on November 8, 2017 12:15 at #21 :
I have been working with SolidWorks and other CAE programs in order to develop an accurate dynamic model for TEO, including masses, inertias, CoM. It is not yet finished, but I wonder in which repository this kind of information (probably a .doc or a .pdf file) could be placed into.

There are a number of options on where to centralize this information (namely: teo-configuration-files, teo-hardware-manual, teo-software-manual).

This is argueable, but I currently recommend to create a markdown page (generated via ods2md) similar to this one that got lost in translation as Appendix B of https://github.com/roboticslab-uc3m/teo-software-manual (then upload the .ods to a src folder or similar).

The workflow then would be to update through other repositories (including teo-configuration-files, as well teo-openrave-models etc) that use their own program/library specific formats.

[jgvictores]

PS: Assigned to @AlvaroMartinezR but there will be a number of future collaborators to propagate the updates through the corresponding repositories. Thanks!

[AlvaroMartinezR]

Thanks! I will first finish extracting the information and then create a proper document.

[jgvictores]

Great, thanks!

[jgvictores]

I've been cleaning https://github.com/roboticslab-uc3m/teo-software-manual so now the workflow and placements are documented at: https://github.com/roboticslab-uc3m/teo-software-manual/blob/master/CONTRIBUTING.md#workflow-for-assets

Hope that helps!

[jgvictores]

Please note that Workflow and Placements (same rules) are now correctly at https://github.com/roboticslab-uc3m/teo-software-manual/blob/master/README.md#workflow-for-assets

[AlvaroMartinezR]

I finally obtained all dynamic information about all TEO's parts. SolidWorks provides the information in the following form: (see image below), as a plain text.
(This comes straight out from SolidWorks, some lines are not usable in TEO's context, so will be edited or deleted)

My main inconvenient is that this kind of information I think it wouldn't fit well on a table similar to point 3 of the workflow. Therefore I think it will be better in a PDF.

[AlvaroMartinezR]

After talking with Santiago, he told me to upload the info as a PDf in the doc folder of teo-simox-models and link it from the wiki.

[jgvictores]

The screenshot is not plain text, it's .odt. What is the real output format? Is that copied and pasted?

[AlvaroMartinezR]

Yes, it copies to your clipboard as plain text, I pasted it on a .ods file because you go piece by piece, so I needed to store the previous ones somewhere.

[jgvictores]

Please add your .odt to the assets/src folder of https://github.com/roboticslab-uc3m/teo-software-manual. It would be great if you could add some lines at the top describing that it came from SolidWorks and link to the model.

After you do that, notify me here and I will proceed to see if pandoc does a good job in exporting .odt to .md. .md has very good properties (better parsed for search, better copied and pasted). Please note that an integrated .pdf is ultimately generated via the enabled GitBook mechanism (see here, the Download PDF button).

[jgvictores]

PS just because you mentioned .ods even though I got .odt from your screenshot:

• .odt: Equivalent to Word Document. We'd try pandoc.
• .ods: Equivalent to Excel Spreadsheet. This tabled format would be even better, and we could use ods2md.

[jgvictores]

PPS: @AlvaroMartinezR Think you could give it a shot at pasting the parts into an .ods? Perhaps it could work out.

[AlvaroMartinezR]

Well, dyslexia coming in place: I was all the time referring to .odt. In the meantime I was thinking in using md directly, actually I already started. So if I do it directly I save you this work. I will go for .md then.

[jgvictores]

So if I do it directly I save you this work. I will go for .md then.

.md is the new black. Three cheers for .md. What else can I say... Thanks! 👍

[jgvictores]

PD: Would go directly in assets for now. Still looking for a good way to #include one .md in another.

[AlvaroMartinezR]

Done, created in assets.

[jgvictores]

Great! Did some renaming at roboticslab-uc3m/teo-developer-manual@b95b219

Still plenty to do to close this issue, just to recap from the top:

• Kinematics(DH)+Mass/Inertia used by KdlSolver: [1].
• OpenRAVE 3D and Kinematics used by teoSim: [2]
• Gazebo 3D and Kinematics+Mass/Inertia used by teo-ros-simulation: [3]

[jgvictores]

Also pending to resolve duplicates between https://github.com/roboticslab-uc3m/teo-simox-models and https://github.com/roboticslab-uc3m/teo-software-manual (see roboticslab-uc3m/teo-developer-manual#15)

[AlvaroMartinezR]

@jgvictores Duplicates solved

[jgvictores]

Still seeing some duplicates:

• https://github.com/roboticslab-uc3m/teo-developer-manual/blob/master/assets/teo-simox-names.pdf (permalink)
• https://github.com/roboticslab-uc3m/teo-simox-models/blob/develop/doc/teo-simox-names.pdf (permalink)

[AlvaroMartinezR]

Ups, my mistake, I forgot them 😅.
Which one do you prefer that I delete? @jgvictores

[jgvictores]

Also did: roboticslab-uc3m/teo-developer-manual@5d2ddb4

[jgvictores]

Add visibility to dynamic info at roboticslab-uc3m/teo-developer-manual@5ca1cae.

[jgvictores]

Started #37 to track unifying link names.

[jgvictores]

Been moving things around. We have https://github.com/roboticslab-uc3m/teo-developer-manual/blob/7d7f7216ecc2e558c65314d4862a3c90cc10a625/appendix/b-teo-dynamic-information.md but I'd also port https://github.com/roboticslab-uc3m/teo-simox-models/blob/551e1dc678eceea9a3ba416d7f584827a244df62/doc/teo-center-of-masses.csv to https://github.com/roboticslab-uc3m/teo-developer-manual/tree/master/assets

[jgvictores]

Blocked by #38

[jgvictores]

Just for tracking:

• roboticslab-uc3m/teo-configuration-files@f355beb was reverted at roboticslab-uc3m/teo-configuration-files@ed94eae

[jgvictores]

Also see: roboticslab-uc3m/teo-configuration-files#17

[jgvictores]

No longer blocked by #38

[jgvictores]

Cool commit: roboticslab-uc3m/teo-developer-manual@7def769

[imontesino]

Added the absolute values of the centers of masses in roboticslab-uc3m/teo-developer-manual@ce9af81
with respect to the right foot contact with the gound

[jgvictores]

Cool!

• Correctly follows CAN ID numbering, currently: https://github.com/roboticslab-uc3m/teo-developer-manual/blob/cb372f68114a33151a0081fabc58c7bde65ed040/fig/Joints_(can).png
• Note that rotations are all positive since Review and Unify Joint Directions of Rotation #39, as seen at https://github.com/roboticslab-uc3m/teo-developer-manual/blob/cb372f68114a33151a0081fabc58c7bde65ed040/fig/Directions.png