{"action":"created","issue":{"url":"https://api.github.com/repos/robotology/wysiwyd/issues/168","repository_url":"https://api.github.com/repos/robotology/wysiwyd","labels_url":"https://api.github.com/repos/robotology/wysiwyd/issues/168/labels{/name}","comments_url":"https://api.github.com/repos/robotology/wysiwyd/issues/168/comments","events_url":"https://api.github.com/repos/robotology/wysiwyd/issues/168/events","html_url":"https://github.com/robotology/wysiwyd/issues/168","id":189462695,"number":168,"title":"KARMA application in WYSIWYD demo","user":{"login":"sockchinglow","id":16003056,"avatar_url":"https://avatars.githubusercontent.com/u/16003056?v=3","gravatar_id":"","url":"https://api.github.com/users/sockchinglow","html_url":"https://github.com/sockchinglow","followers_url":"https://api.github.com/users/sockchinglow/followers","following_url":"https://api.github.com/users/sockchinglow/following{/other_user}","gists_url":"https://api.github.com/users/sockchinglow/gists{/gist_id}","starred_url":"https://api.github.com/users/sockchinglow/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/sockchinglow/subscriptions","organizations_url":"https://api.github.com/users/sockchinglow/orgs","repos_url":"https://api.github.com/users/sockchinglow/repos","events_url":"https://api.github.com/users/sockchinglow/events{/privacy}","received_events_url":"https://api.github.com/users/sockchinglow/received_events","type":"User","site_admin":false},"labels":[{"id":86564365,"url":"https://api.github.com/repos/robotology/wysiwyd/labels/bug","name":"bug","color":"fc2929","default":true},{"id":314543935,"url":"https://api.github.com/repos/robotology/wysiwyd/labels/highpriority","name":"highpriority","color":"eb6420","default":false},{"id":385962853,"url":"https://api.github.com/repos/robotology/wysiwyd/labels/year-3","name":"year-3","color":"e99695","default":false}],"state":"open","locked":false,"assignee":{"login":"towardthesea","id":4939985,"avatar_url":"https://avatars.githubusercontent.com/u/4939985?v=3","gravatar_id":"","url":"https://api.github.com/users/towardthesea","html_url":"https://github.com/towardthesea","followers_url":"https://api.github.com/users/towardthesea/followers","following_url":"https://api.github.com/users/towardthesea/following{/other_user}","gists_url":"https://api.github.com/users/towardthesea/gists{/gist_id}","starred_url":"https://api.github.com/users/towardthesea/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/towardthesea/subscriptions","organizations_url":"https://api.github.com/users/towardthesea/orgs","repos_url":"https://api.github.com/users/towardthesea/repos","events_url":"https://api.github.com/users/towardthesea/events{/privacy}","received_events_url":"https://api.github.com/users/towardthesea/received_events","type":"User","site_admin":false},"assignees":[{"login":"towardthesea","id":4939985,"avatar_url":"https://avatars.githubusercontent.com/u/4939985?v=3","gravatar_id":"","url":"https://api.github.com/users/towardthesea","html_url":"https://github.com/towardthesea","followers_url":"https://api.github.com/users/towardthesea/followers","following_url":"https://api.github.com/users/towardthesea/following{/other_user}","gists_url":"https://api.github.com/users/towardthesea/gists{/gist_id}","starred_url":"https://api.github.com/users/towardthesea/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/towardthesea/subscriptions","organizations_url":"https://api.github.com/users/towardthesea/orgs","repos_url":"https://api.github.com/users/towardthesea/repos","events_url":"https://api.github.com/users/towardthesea/events{/privacy}","received_events_url":"https://api.github.com/users/towardthesea/received_events","type":"User","site_admin":false}],"milestone":{"url":"https://api.github.com/repos/robotology/wysiwyd/milestones/2","html_url":"https://github.com/robotology/wysiwyd/milestones/Third%20year%20review","labels_url":"https://api.github.com/repos/robotology/wysiwyd/milestones/2/labels","id":1658484,"number":2,"title":"Third year review","description":"","creator":{"login":"Tobias-Fischer","id":5497832,"avatar_url":"https://avatars.githubusercontent.com/u/5497832?v=3","gravatar_id":"","url":"https://api.github.com/users/Tobias-Fischer","html_url":"https://github.com/Tobias-Fischer","followers_url":"https://api.github.com/users/Tobias-Fischer/followers","following_url":"https://api.github.com/users/Tobias-Fischer/following{/other_user}","gists_url":"https://api.github.com/users/Tobias-Fischer/gists{/gist_id}","starred_url":"https://api.github.com/users/Tobias-Fischer/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/Tobias-Fischer/subscriptions","organizations_url":"https://api.github.com/users/Tobias-Fischer/orgs","repos_url":"https://api.github.com/users/Tobias-Fischer/repos","events_url":"https://api.github.com/users/Tobias-Fischer/events{/privacy}","received_events_url":"https://api.github.com/users/Tobias-Fischer/received_events","type":"User","site_admin":false},"open_issues":7,"closed_issues":13,"state":"open","created_at":"2016-03-21T20:52:17Z","updated_at":"2016-11-28T11:21:41Z","due_on":"2017-01-30T23:00:00Z","closed_at":null},"comments":24,"created_at":"2016-11-15T17:58:24Z","updated_at":"2016-11-29T11:14:52Z","closed_at":null,"body":"We have managed to test the `KARMA` behaviours and have found the following problems that need to be resolved before it can be run as part of the demo:\r\n\r\n- Both `PushingRight` and `PushingLeft` creates a scooping behaviour rather than a horizontal movement. This might be because the wrist joint angle is fixed and the only way to move from the start to end point is to execute that movement. Needless to say, it would be dangerous when done above a table.\r\n\r\n- In the `KARMAexample`, when pushing forward the hand is ~20cm above the table. When pulling, the height is correct but the wrist/hand position is not angled sufficiently to pull any object so it just caresses it.\r\n\r\n- Most of the movements are rather quick; could we modify the speed either through an `RPC` command or a variable in the config file?"},"comment":{"url":"https://api.github.com/repos/robotology/wysiwyd/issues/comments/263543785","html_url":"https://github.com/robotology/wysiwyd/issues/168#issuecomment-263543785","issue_url":"https://api.github.com/repos/robotology/wysiwyd/issues/168","id":263543785,"user":{"login":"jypuigbo","id":3121184,"avatar_url":"https://avatars.githubusercontent.com/u/3121184?v=3","gravatar_id":"","url":"https://api.github.com/users/jypuigbo","html_url":"https://github.com/jypuigbo","followers_url":"https://api.github.com/users/jypuigbo/followers","following_url":"https://api.github.com/users/jypuigbo/following{/other_user}","gists_url":"https://api.github.com/users/jypuigbo/gists{/gist_id}","starred_url":"https://api.github.com/users/jypuigbo/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/jypuigbo/subscriptions","organizations_url":"https://api.github.com/users/jypuigbo/orgs","repos_url":"https://api.github.com/users/jypuigbo/repos","events_url":"https://api.github.com/users/jypuigbo/events{/privacy}","received_events_url":"https://api.github.com/users/jypuigbo/received_events","type":"User","site_admin":false},"created_at":"2016-11-29T11:14:52Z","updated_at":"2016-11-29T11:14:52Z","body":"@towardthesea Yes, I understand that not everything can/must be considered from the design point of view and much will be done from the user point of view. From my side, I was just stating what were the issues I was finding, to check that they made sense and we were not doing anything wrong from our side. In this regard, we just tested the predefined behaviors with the predefined positions while today we are planning on testing it all together with the positions we foresee for the final setup, to see the range of positions available. Still, the second comment, stating that push front and pull back behaviors work well enough (and actually, push right/left as well if we keep displacements small) still holds :) . \r\n\r\nFor the wrist pulling, what do you think of the video then? It is a top view of trying to push the virtual object you see at the robot's right. The center of the object is aligned with the wrist, personally speaking. If you can, try the`opcPopulater` option that I suggest in [here](https://github.com/robotology/wysiwyd/issues/168#issuecomment-262834836) ( @pattacini instructions updated ) and see in the `icubGui` the position of the hand with respect to the object. Maybe it's a parallax error on our part. In any case, the real issue comes when we test it with `IOL` running, because then the position of the object is not 100% correct and it fails in the real world (in `icubGui`, the pulling/pushing would work fine). \r\nAlso, we are re-calibrating `SFM` again to try to get the best possible accuracy. \r\n\r\nFinally (Finally!) what the last comment was referring to ( @towardthesea ) is specifically: \r\n- We had a conflict address with the left arm and `karmaMotor` (due to running the example and the `behaviorManager` at the same time, what should not happen normally)\r\n- We run push behaviors over objects on the left\r\n- The hand selected was the right hand and the behavior was run. \r\n- This implies that the right hand was dangerously going to the far left side of the table and was pushing an object. \r\nAgain, this can be avoided by just not having objects too far, but still I thought it might be useful for you to know that this is happening, in case you want to make it more robust. For the demo, it is probably not a relevant issue. \r\n\r\nAll the changes that I've made are pushed in the branch `feature/upf/pushBehaviors`, for any test. "}}
{"actor":{"display_login":"jypuigbo"}}