chip updates: standing-up on the patio outside [updates]
So today, we're going to work on, what I hope to be, the final stand-up sequence for chip (for a good amount of time). What this will involve is the ability to stand up stably without and IMU, I don't think we'll need the IMU for standing and sitting. So we're going to be testing the program outdoors, on tether power (not battery), and we'll use Webviz to monitor the stability of the platform from the camera and the IMU, but also visually. We had initial success by making the first two steps of the stand-up sequence occur so we should finish off the last two. I think we'll have a total of four to the stand-up sequence. Here, let's draw them.
So this is the sequence we're going to program into the robot, and in vector form, it'll look something like this from the USER_FRAME (not raw).
#step 1 [8.0, 0.0, 8.0, 8.0, 0.0, 8.0, 8.0, 0.0, 8.0, 8.0, 0.0, 8.0] #step 2 [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0] #step 3 [0.0, 0.0, 8.0, 0.0, 0.0, 8.0, 0.0, 0.0, 8.0, 0.0, 0.0, 8.0] #step 4 [-9.0, 0.0, 9.0, -9.0, 0.0, 9.0, -9.0, 0.0, 9.0, -9.0, 0.0, 9.0] #step 5 do_IK([0.05, 0.45, 0.0, 0.05, 0.45, 0.0, 0.05, 0.45, 0.0, 0.05, 0.45, 0.0])
So what this tells is, is we're going to prepare the commands as motor rotation commands 'till the last step where we actually use the IK method to finally lift the robot. We're going to put all these as steps in a trajectory and when we hit the stand button it'll just run the trajectory in forward, and the sit button just runs it in reverse. So we're going to try this.
And then we run it in reverse to get the sit-down.
So there we go! We're standing and sitting and pretty well balanced might I add.