doc/notebook/Safety-first.ipynb

{
 "cells": [
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "# Update pypot & reachy"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "Check the version on https://github.com/poppy-project/pypot"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "```\n",
    "pip install --upgrade pypot\n",
    "```"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 1,
   "metadata": {},
   "outputs": [],
   "source": [
    "import pypot"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 2,
   "metadata": {},
   "outputs": [
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "3.1.2\n"
     ]
    }
   ],
   "source": [
    "print(pypot.__version__)"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "Same method for Reachy."
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "If you find a bug, let us know! https://github.com/poppy-project/pypot/issues"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "# Initial Position\n",
    "\n",
    "When you receive the robot or move the robot to a new place, the arm will probably move due to its natural compliance. Some joint can freely do 180° or 360° turn and this can be problematic when you will re-start the robot as the arm can make unexpected move to get back to its initial position.\n",
    "\n",
    "This can especially happen with the shoulder, you may have situation where all shoulder motor are on position 180° but the arm will look like on a normal posture. After using Reachy several time you will notice it but on the first uses you may be badly surprised :(\n",
    "\n",
    "A way to avoid this problem is to check at the start-up if each joint is at the position you expect before turning off the compliance and changing the goal position. You can do it with the following code:"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": null,
   "metadata": {},
   "outputs": [],
   "source": [
    "for m in reachy.motors:\n",
    "    print(m.name, m.present_position)"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "When the arm is naturally falling along its support, you should get only close to 0° position."
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "# Speed limit"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": null,
   "metadata": {},
   "outputs": [],
   "source": [
    "# Basic speed values\n",
    "slow_speed = 50\n",
    "medium_speed = 100\n",
    "fast_speed = 500\n",
    "\n",
    "for m in reachy.motors:\n",
    "    # Remember moving_speed is Maximum speed!\n",
    "    m.moving_speed = slow_speed"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "# Torque limit"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "Used to make sure that the robot won't force too much."
   ]
  },
  {
   "cell_type": "code",
   "execution_count": null,
   "metadata": {},
   "outputs": [],
   "source": [
    "for m in reachy.motors:\n",
    "    # Remember the torque limit is expressed as % \n",
    "    # of the maximum torque of the motor\n",
    "    m.torque_limit = 75"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "# Compliance"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "When switching to compliant, the arm may actually break itself if release from some weird position.\n",
    "\n",
    "So,\n",
    "\n",
    "- first go slowly to 0 position\n",
    "- then turn on the compliancy"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": null,
   "metadata": {},
   "outputs": [],
   "source": [
    "import time\n",
    "\n",
    "for m in reachy.motors:\n",
    "    m.moving_speed = 50\n",
    "    m.goal_position = 0\n",
    "    \n",
    "time.sleep(2)\n",
    "\n",
    "for m in reachy.motors:\n",
    "    m.compliant = True"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "# Temperature and overheating"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "Happens mostly when staying in a \"hard\" position for too long.\n",
    "\n",
    "As a rule of thumb: check that temperature are below about 50°C."
   ]
  },
  {
   "cell_type": "code",
   "execution_count": null,
   "metadata": {},
   "outputs": [],
   "source": [
    "for m in reachy.motors:\n",
    "    print('Motor {} is at {}'.format(m.name, m.present_temperature))"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "If it's above 50°C, turn on compliance or unplug it and wait for it to cool down until it reaches ~40°C."
   ]
  },
  {
   "cell_type": "code",
   "execution_count": null,
   "metadata": {},
   "outputs": [],
   "source": []
  },
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   "cell_type": "code",
   "execution_count": null,
   "metadata": {},
   "outputs": [],
   "source": []
  },
  {
   "cell_type": "code",
   "execution_count": null,
   "metadata": {},
   "outputs": [],
   "source": []
  }
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