miguelasd688/4-legged-robot-model

4-legged-robot-model's Issues

Don't obviously about IK

Hi, thanks for sharing, I've read your code.
At line "FR_angles = IK.solve_R(_FRcoord , self.coxa , self.femur , self.tibia)", it means get foot_position in local coordinate. But the formula is to find angles with input which is foot_position in body frame? Can you explain it to me?
Correct me if I'm wrong. Thank you very much!!!

ImportError: sys.meta_path is None, Python is likely shutting down

Everything is OK when i start to run the robot , after a while suddenly a error comes says: sys_meta path is none! How to solve this issue? any help


!

Where is the robot urdf file?

I'm looking for the urdf file of the robot (including the mesh).
Is it provided? I couldn't find it

'IMUSetup' was not declared in this scope

When I compile arduino_com, I have an error in the setup and in the loop which are related to the IMU. In the arduino files there is gy_521_send_serial where I can find the functions IMUSetup(); and readAngles();.
Do i have to include #include <gy_521_send_serial.ino>? but that seems weird to me.
I copied the whole gy_521_send_serial.ino and pasted it in arduino_com and everything seems to work between the Raspberry pi and the arduino mega

Might be an error in kinematic_model.py

"""defines 4 vertices which rotates with the body"""
_bodytoFR0 = geo.transform(self.bodytoFR0 , orn, pos)
_bodytoFL0 = geo.transform(self.bodytoFL0 , orn, pos)
_bodytoBR0 = geo.transform(self.bodytoBR0 , orn, pos)
_bodytoBL0 = geo.transform(self.bodytoBL0 , orn, pos)

In this portion of code, a vector is being transformed from one frame to the other. However, bodytoFR0, bodytoFL0, bodytoBR0, bodytoBL0 are vectors in the initial frame and they are being multiplied as ornposvector by using the transform() function. But this multiplication is valid if the "vector" is in the rotated (new) frame and not in the initial frame. Since bodyto* vectors are all in the initial frame before rotation, we could not get the new vectors after rotation with respect to the intial frame.

Correct me if I'm wrong. Thank you.

missed tag in the urdf

I think you have missed a <robot/> tag in the URDF
great work !!

note1