Virtual InMoov resting wrongly.

[80avin]

Problem: On giving "relax" command, the arms of virtual InMoov are going too much backward, i.e. the shoulder joint is resting at lower than expected value.
Description: I've written [SERVO_MINIMUM_MAP_OUTPUT], [SERVO_MAXIMUM_MAP_OUTPUT] & [SERVO_REST_POSITION] angles for the servos, and I keep Virtual Inmoov to be always running with Full InMoov. Also, I've changed the values being written in relax.py file according to the formula :

value = (MAXIMUM_INPUT-MINIMUM_INPUT)/(MAXIMUM_OUTPUT-MINIMUM_OUTPUT)*(REST_POSITION-MINIMUM_OUTPUT)+MINIMUM_INPUT

which is a simple formula for linear mapping. But, still, the arms of Virtual Inmoov are going too much backward.

My configs for right arm are

[SERVO_MINIMUM_MAP_OUTPUT]
;your servo minimal limits
bicep=15
rotate=75
shoulder=70
omoplate=10
[SERVO_MAXIMUM_MAP_OUTPUT]
;your servo maximal limits
bicep=90
rotate=180
shoulder=180
omoplate=70
[SERVO_REST_POSITION]
bicep=15
rotate=120
shoulder=100
omoplate=10

[hairygael]

Hello, You shouldn't change the "rest" positions in the config files. Only the output mappings. "rest" is calling some hardcoded servo behaviors, this must be the reason you get a difference between the virtual and the real. The virtual InMoov is to show how your real robot should behave. Nota: in Manticore version the jaw in virtual InMoov is not correct, it is open at "rest" and that is not okay. Gael Langevin Creator of InMoov InMoov Robot <http://www.inmoov.fr> @inmoov <http://twitter.com/inmoov> Le lun. 3 juin 2019 à 08:20, Avinash Thakur <notifications@github.com> a écrit :

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*Problem*: On giving "relax" command, the arms of virtual InMoov are going too much backward, i.e. the shoulder joint is resting at lower than expected value. *Description*: I've written [SERVO_MINIMUM_MAP_OUTPUT], [SERVO_MAXIMUM_MAP_OUTPUT] & [SERVO_REST_POSITION] angles for the servos, and I keep Virtual Inmoov to be always running with Full InMoov. Also, I've changed the values being written in relax.py file according to the formula : value = (MAXIMUM_INPUT-MINIMUM_INPUT)/(MAXIMUM_OUTPUT-MINIMUM_OUTPUT)*(REST_POSITION-MINIMUM_OUTPUT)+MINIMUM_INPUT which is a simple formula for linear mapping. But, still, the arms of Virtual Inmoov are going too much backward. *My configs for right arm are* [SERVO_MINIMUM_MAP_OUTPUT] ;your servo minimal limits bicep=15 rotate=75 shoulder=70 omoplate=10 [SERVO_MAXIMUM_MAP_OUTPUT] ;your servo maximal limits bicep=90 rotate=180 shoulder=180 omoplate=70 [SERVO_REST_POSITION] bicep=15 rotate=120 shoulder=100 omoplate=10 — You are receiving this because you are subscribed to this thread. Reply to this email directly, view it on GitHub <#195>, or mute the thread <https://github.com/notifications/unsubscribe-auth/ACAXNR3KQMVFRMB2CGLOEG3PYSZZ5ANCNFSM4HSE5WKA> .