Search found 8 matches

by MarkJennings
Mon Aug 10, 2020 1:04 pm
Forum: Kits|Arms
Topic: How to Avoid Self Collisions using MoveIt?
Replies: 8
Views: 2211

Re: How to Avoid Self Collisions using MoveIt?

That fixed it! I just set the max_velocity in joint_limits.yaml for each joint to 10% of the previous value. The tracking is excellent now, thank you for your help :D
by MarkJennings
Thu Aug 06, 2020 10:03 pm
Forum: Kits|Arms
Topic: How to Avoid Self Collisions using MoveIt?
Replies: 8
Views: 2211

Re: How to Avoid Self Collisions using MoveIt?

I think I had joint limits working today with a not-so-elegant method and didn't see improvements in the log, so it seems you are right. (I'll leave that other thread up in case it helps anybody else, but it's not urgent to me anymore.) The commands from MoveIt are just assuming the robot can move m...
by MarkJennings
Thu Aug 06, 2020 7:17 pm
Forum: Kits|Arms
Topic: How to Set and Enforce Joint Limits?
Replies: 0
Views: 185

How to Set and Enforce Joint Limits?

This is a bit of a follow-up from my previous post , but I thought this was enough of a new topic that it might warrant another thread. I need to keep motors within +-pi so that the cables routed through them don't twist too much. I believe this is set in hardware via Scope, but my controller (in th...
by MarkJennings
Thu Aug 06, 2020 10:35 am
Forum: Kits|Arms
Topic: How to Avoid Self Collisions using MoveIt?
Replies: 8
Views: 2211

Re: How to Avoid Self Collisions using MoveIt?

Hey Dave, That was really helpful. Just for the record, I can't see your images, and there is a note at the bottom saying "You do not have the required permissions to view the files attached to this post." However, I think I know what's causing my problems from just your text. (edit: I can see them ...
by MarkJennings
Fri Jul 31, 2020 5:15 pm
Forum: Kits|Arms
Topic: How to Avoid Self Collisions using MoveIt?
Replies: 8
Views: 2211

Re: How to Avoid Self Collisions using MoveIt?

Hello again, sorry for the delay. I have since moved to a different lab space, so access to the Hebi arm has been difficult to come by recently. This morning I had about 10 minutes to try and recreate the self collision errors I've been seeing. Unfortunately, everything ran great and I couldn't get ...
by MarkJennings
Fri Jul 17, 2020 12:31 pm
Forum: Introductions | New user? Introduce yourself!
Topic: Hello from the University of Texas Nuclear Robotics Group!
Replies: 0
Views: 127

Hello from the University of Texas Nuclear Robotics Group!

Hey there! My name is Mark Jennings - I'm a Master's student at UT Austin. I actually research primarily with a different robot arm, but I am involved with a HEBI arm integration on the side right now. We have a custom 6DoF arm built in 2018 or so by a different student, Adam Pettinger. (He got his ...
by MarkJennings
Fri Jul 17, 2020 12:08 pm
Forum: Kits|Arms
Topic: How to Avoid Self Collisions using MoveIt?
Replies: 8
Views: 2211

Re: How to Avoid Self Collisions using MoveIt?

Absolutely! I'll try to recreate the issue and look into creating logs with ROS/Scope this weekend. Unfortunately I don't have time today to go into the lab, but I'll introduce myself on the forums :)
by MarkJennings
Fri Jul 17, 2020 11:13 am
Forum: Kits|Arms
Topic: How to Avoid Self Collisions using MoveIt?
Replies: 8
Views: 2211

How to Avoid Self Collisions using MoveIt?

My lab, the Nuclear Robotics Group at UT Austin, built a custom Hebi arm a couple years ago for inspection and manipulation aboard a mobile robot base. Now, we are repurposing it for a different robot, and I am attempting to use the new and improved ROS API. Overall, things have gone pretty smoothly...