Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Safer turn off smoothly #456

Merged

Conversation

RemiFabre
Copy link
Member

Simple change to increase the initial torque used during the first motion of the turn_off_smoothly. This is to avoid the case where the turn_off_smoothly is started when the arms are high : 35% of the max torque was not enough to sustain gravity and a collision with the tripod happens.

Tested on the physical robot.

We also tested with Claire a turn_off_smoothly on top of a table and the arms do not have enough force (at all) in this configuration to make the robot fall.

@RemiFabre RemiFabre requested a review from ClaireHzl November 25, 2024 14:56
@RemiFabre RemiFabre self-assigned this Nov 25, 2024
@RemiFabre RemiFabre linked an issue Nov 25, 2024 that may be closed by this pull request
Copy link

☂️ Python Coverage

current status: ✅

Overall Coverage

Lines Covered Coverage Threshold Status
3058 2059 67% 0% 🟢

New Files

No new covered files...

Modified Files

File Coverage Status
src/reachy2_sdk/reachy_sdk.py 36% 🟢
TOTAL 36% 🟢

updated for commit: 60009da by action🐍

Copy link
Collaborator

@ClaireHzl ClaireHzl left a comment

Choose a reason for hiding this comment

The reason will be displayed to describe this comment to others. Learn more.

perfect !

@ClaireHzl ClaireHzl merged commit 1c65820 into develop Nov 25, 2024
8 checks passed
@ClaireHzl ClaireHzl deleted the 454-turn-off-smoothly-sometimes-generates-a-self-collision branch November 25, 2024 15:35
Sign up for free to join this conversation on GitHub. Already have an account? Sign in to comment
Labels
None yet
Projects
None yet
Development

Successfully merging this pull request may close these issues.

Turn off smoothly sometimes generates a self collision
2 participants