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General Tech Bugs & Fixes 2 years ago
Posted on 16 Aug 2022, this text provides information on Bugs & Fixes related to General Tech. Please note that while accuracy is prioritized, the data presented might not be entirely correct or up-to-date. This information is offered for general knowledge and informational purposes only, and should not be considered as a substitute for professional advice.
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I have a C++ program that communicates with the Naoqi DCM, sending commands and reading status information, but I cannot find a way to read a joint's stiffness setting directly.
Naoqi has the following ALMemory keys for a particular joint, left shoulder pitch in the example below.
ALMemory
Device/SubDeviceList/LShoulderPitch/Position/Actuator/Value Device/SubDeviceList/LShoulderPitch/Position/Sensor/Value Device/SubDeviceList/LShoulderPitch/ElectricCurrent/Sensor/Value Device/SubDeviceList/LShoulderPitch/Temperature/Sensor/Value Device/SubDeviceList/LShoulderPitch/Hardness/Actuator/Value Device/SubDeviceList/LShoulderPitch/Temperature/Sensor/Status
Whilst I am able to write to the above actuators and read from the sensors, I need to determine the joint's stiffness setting, however Hardness is a write only actuator and cannot be read.
I've looked at the values that the ElectricCurrent sensor returns and have determined that it alone does not give the desired result. Even with stiffness set to maximum, if the arm is at its destination pose and there is no displacing torque force, the ElectricCurrent reports zero current for the joint. Thus you cannot assume that stiffness is off when there is no current.
ElectricCurrent
Anyone know how to determine the stiffness setting of a joint without using motionProxy.getSummary()?
motionProxy.getSummary()
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