Forum Replies Created
-
Posts
-
1. screen -r bruce -p bear (并且确保没有打开其他window，比如top_level，按ctrl+a+d可以关闭打开的window)
2. python3 -m Util.test_BEAR（确保在BRUCE-OP目录下执行）The given urdf file should be good. You can verify it via https://gkjohnson.github.io/urdf-loaders/javascript/example/bundle/. However, using it in any simulator requires further work. We are currently working on it and will provide a gazebo package soon. For now, users can develop their own simulation environment.
1. So there is error.
2. This means the USB2BEAR dangle is good but cannot find BEAR 01. We need to find out where the connection is broken, i.e., which motor/signal is broken. The BEAR actuators are connected in a daisy chain and the sequence is 6,7,8,9,10,1,2,3,4,5. We can first try pinging BEAR 06. In the “Util” folder, edit line 22 of the “test_BEAR.py” file. Read only BEAR 06 instead of all, i.e., change “[1, 2, 3, 4, 5, 6, 7, 8, 9, 10]” to “[6]”. Run the file by commanding “python3 -m Util.test_BEAR”. If everything until BEAR 06 is good, the communication frequency will be shown, otherwise error message. You can repeat these steps for the rest motors until you find the issue.
3. Yes, reversing the power supply can burn the powerhub and the microcontroller in the motor. The LED might survive tho. You can verify if the powerhub is fine by checking other components, e.g., IMU and foot contact.You can find all the info related to the BEAR actuators here (https://www.westwoodrobotics.io/support/).
There are two main reasons why the legs cannot be initialized:
1. Motor error. You can check the LED on the motor when it is turned on. Green means good and red means error.
2. Communication error. The onboard laptop cannot find the motors.Either, you can run the BEAR thread to identify which error causes the issue. In the terminal, command “python3 -m Startups.run_bear”.
1. If the thread cannot run at all, it is communication error. You can try to replug the USB2BEAR dangle and check all the BEAR signal cables.
2. If the thread can successfully ping the motors, the error status will display and you can check Page 17 in the SDK mannual (English version) to identify the error.Make sure you run the bootup.sh until the end and press Ctrl+A+D and do not quit. Then in a new terminal, command “screen -r bruce -p low_level”, which will lead you to the low-level thread. You can also check other threads, e.g., “screen -r bruce -p bear” will take you to the BEAR thread, which communicates with the motors of the leg.
If the motor in the leg is broken, BRUCE cannot initialize and stand at all.
I am so sorry. There is a typo in the command I gave, which should be “screen -r bruce -p low_level”. You can verify all the window names in the bootup.sh.