Could somebody point me in the right direction as to how to change to legsizes in the flowbotics SQ3 FSP? I was looking at it with flowbotics but I cannot find any body or leg configuration data.
This is the closest I can find:
class QuadRobotLeg
def initialize
@base = {:w=>15,:h=>5,:offset=>4,:angle=>45,:min=>-15,:max=>105}
@links = Array.new
@links.push ({:len=>11.8,:w=>7,:angle=>0,:min=>-60,:max=>90})
@links.push ({:len=>12.5,:w=>5,:angle=>-90,:min=>-130,:max=>90})
But it does not make sens to me
Hi Eriklely,
We are currently investigating your issue and will reply shortly with more information.
Sincerely,
Any update on this issue?
Hi,
We are still looking into the issue. Are you trying to reconfigure the lengths of the legs for the inverse kinematics or only the display / graphical interface lengths?
Sincerely,
For the IK. I changed the legsizes on the actual quadruped and would still like to be able to use the SQ3 FSP. If possible of course. But it seemed to be that it should quit easily be possible to reconfigure the legsizes in FlowBotics.
Thanks in advance!
Hi eriklely,
You did have the right intuition about what code to change. The link lengths and angles are indeed defined in class QuadRobotLeg in the Ruby module (under Quadruped > Robot Definition).
What you might have been missing is pressing the trigger button on the left of the Ruby module to propagate the new robot definition throughout the system. Since the visual programming language of FlowBotics Studio is based on a data flow paradigm, any update requires data to be moved around and that trigger button does just that. Otherwise simply changing the code in the Ruby module itself does not create a data event / new output by itself.
You can see my changes done to my SQ3 test project in the attached images.
Hope this helps!
Thanks you very much, I see where I went wrong…a last question…
@base = {:w=>15,:h=>5,:offset=>4,:angle=>45,:min=>-15,:max=>105}
@links = Array.new
so this is the femur: @links.push ({:len=>11.8,:w=>7,:angle=>0,:min=>-60,:max=>90})
and this is the tibia I guess: @links.push ({:len=>12.5,:w=>5,:angle=>-90,:min=>-130,:max=>90})
But what are the lengths measured in, i.e. how long is 11.8 or 12.5?
Hi eriklely,
The lengths - actually, all dimensions - should be entered in centimeters.
Hope this helps.
