send :angle-vector arm rolling unintentionally

[furushchev]

I think the method :check-continuous-joint-move-over-180 in pr2-interface.l is still not enough to avoid rolling arm over 180 deg.

Following code is angle-vector-sequence when pr2 moves arm to open fridge door, but it happens unintentional 360 rotation.:

;; failed                                                                                                                                 
(require :pr2-interface "package://pr2eus/pr2-interface.l")                                                                             

(pr2-init)
(setq l (list
         #f(50.0958 60.0004 74.0041 69.9866 -119.999 20.0028 -29.9999 180.0 11.9899 -1.7066 -43.001 -80.9047 168.649 -84.2199 -129.349 -3\
.70811 31.566)
         #f(50.0958 60.0004 74.0041 69.9866 -119.999 20.0028 -29.9999 180.0 8.52529 -0.397512 -40.882 -98.2755 177.502 -91.3898 -132.386 \
-3.70811 31.566)
         #f(50.0958 60.0004 74.0041 69.9866 -119.999 20.0028 -29.9999 180.0 7.45013 -0.43028 -39.4328 -103.136 61.068 -93.5547 -132.813 -\
3.70811 31.566)
         #f(50.0958 60.0004 74.0041 69.9866 -119.999 20.0028 -29.9999 180.0 6.37498 -0.463047 -37.9837 -107.996 -55.366 -95.7195 -133.24 \
-3.70811 31.566)
         #f(50.0958 60.0004 74.0041 69.9866 -119.999 20.0028 -29.9999 180.0 5.29982 -0.495815 -36.5345 -112.857 -171.8 -97.8844 -133.667 \
-3.70811 31.566)
         #f(50.0958 60.0004 74.0041 69.9866 -119.999 20.0028 -29.9999 180.0 -14.7958 -19.2565 -50.9597 -121.542 -148.191 -87.7609 -103.04\
3 -3.70811 31.566)
         #f(33.2654 60.0004 74.0041 69.9866 -119.999 20.0028 -29.9999 180.0 -45.921 -19.7581 -47.8472 -121.542 -85.0682 -52.1223 30.0475 \
-3.70811 31.566)
         #f(16.435 60.0004 74.0041 69.9866 -119.999 20.0028 -29.9999 180.0 -77.0463 -20.2598 -44.7347 -121.542 -21.9455 -16.4837 163.138 \
-3.70811 31.566)
         #f(16.435 60.0004 74.0041 69.9866 -119.999 20.0028 -29.9999 180.0 -74.3138 -5.77166 -37.0196 -113.614 -20.3771 -41.096 159.917 -\
3.70811 31.566)))
(pr2-reset-pose)
(send *ri* :angle-vector (car l))
(send *ri* :wait-interpolation)
;; both are failed
;;(send *ri* :angle-vector-sequence l (make-sequence 'cons (length l) :initial-element 500))                                              
(dolist (a l) (send *ri* :angle-vector a 500) (send *ri* :wait-interpolation))
(send *ri* :wait-interpolation)

[k-okada]

https://github.com/jsk-ros-pkg/jsk_pr2eus/blob/master/pr2eus/test/pr2-ri-test.l
is the test code to check this. Can you confirm that current version passed and it fails with your data

[YoheiKakiuchi]

jsk-ros-pkg/jsk_common#87 (comment)
ここで現在の仕様を確認しましょう。 挙動は仕様通りの気がします。

仕様は要約すると、send ri :angle-vector のレベルでは与えたangle-vector通りの角度まで動くです。

[garaemon]

つまり、与えてる値がおかしいといういみですか？

なぜそのような値になったのでしょうか

2014年3月8日土曜日、Yohei [email protected]さんは書きました:

jsk-ros-pkg/jsk_common#87 (comment)jsk-ros-pkg/jsk_common#87 (comment)
ここで現在の仕様を確認しましょう。 挙動は仕様通りの気がします。

仕様は要約すると、send ri :angle-vector のレベルでは与えたangle-vector通りの角度まで動くです。

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