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Nao fingers are shaking #9
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Indeed the joint L/RHand are not simulated properly (if you check at the joint states the values are out of bond and oscillating). This result in a weird visualisation of the fingers. |
It also affect the whole physical body, making it shake/unstable. |
any update? I'm facing similar issue |
I cut the hands... The robot is still shaking and moving slowly. I think the reason is that the PID is not so appropriate that the arm and other joints are still oscillating slightly. |
I think I have found a solution to this problem.
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@jackietom I think the fingers in NAO robot are controlled by a single motor/joint (LHand and RHand) and the finger joints are set to mimic the corresponding hand joint. |
Hi! has anyone found a solution for this issue? Thanks!! |
I didn't need fingers in my project so I just removed them from URDF file :D |
Yeah, is a good solution but I need the fingers... Just for sharing some information: To install Gazebo 9 in Kinetic I just follow this tutorial from Gazebo web: So, installing Gazebo 9 solved the gravity issue, but I still have the problem of the fingers. I attach a video of the problem. At the begging I thought the problem was that the weight of the fingers is 0 in Gazebo, but when I reviewed the URDF it is almost 0 (10^-9). I'm not sure if it can affect. |
I had same problems as you. I have used ROS Melodic, Gazebo 9, nao_virtual package (but not main branch, there was a dev branch for Melodic, this was 6 months ago, don't know the current status on that). This configuration worked fine in all aspects except the fingers. Sorry, I do not know how to solve your problem :( |
Hi, I have played with PID gains a little bit using
makes the fingers stop moving. There is no need to modify the URDF or other files as mentioned above. |
Hi,
I have an issue with the fingers of the simulated nao. Right after starting the simulation they are moving around like this:
The console log does not seems to tell much, except maybe the last line:
Launched on a chrooted ubuntu 12.04, with latest ros-indigo packages.
The text was updated successfully, but these errors were encountered: