View Full Version : [Just For Fun] Poses - Hello World

04-26-2015, 10:56 PM
Thought I would share a pose series I made in rme. (I would post my motion file, but I the attach button on this form keeps rejecting the file.)

Hello World:

ID: 1(R_SHO_PITCH) [????] 0462 0462 0462 0462 0462 0462 0462|55 wave
ID: 2(L_SHO_PITCH) [????] 0542 0096 0094 0111 0081 0104 0541|55 Page Number:0004
ID: 3(R_SHO_ROLL) [????] 0447 0447 0447 0447 0447 0447 0447|55 Address:0x00800
ID: 4(L_SHO_ROLL) [????] 0570 0627 0543 0670 0531 0654 0570|55 Play Count:001
ID: 5(R_ELBOW) [????] 0447 0447 0447 0447 0447 0447 0447|55 Page Step:007
ID: 6(L_ELBOW) [????] 0571 0557 0617 0589 0581 0605 0571|55 Page Speed:032
ID: 7(R_HIP_YAW) [????] 0512 0512 0512 0512 0512 0512 0512|55 Accel Time:032
ID: 8(L_HIP_YAW) [????] 0517 0517 0517 0517 0517 0517 0517|55 Link to Next:000
ID: 9(R_HIP_ROLL) [????] 0507 0507 0507 0507 0507 0507 0507|55 Link to Exit:000
ID:10(L_HIP_ROLL) [????] 0518 0518 0518 0518 0518 0518 0518|55 000
ID:11(R_HIP_PITCH) [????] 0497 0497 0497 0497 0497 0497 0497|55
ID:12(L_HIP_PITCH) [????] 0516 0515 0515 0515 0515 0515 0516|55
ID:13(R_KNEE) [????] 0483 0483 0483 0483 0483 0483 0483|55
ID:14(L_KNEE) [????] 0525 0525 0525 0525 0525 0525 0525|55
ID:15(R_ANK_PITCH)[????] 0528 0527 0527 0527 0527 0527 0528|55
ID:16(L_ANK_PITCH)[????] 0494 0494 0494 0494 0494 0494 0494|55
ID:17(R_ANK_ROLL) [????] 0507 0507 0507 0507 0507 0507 0507|55
ID:18(L_ANK_ROLL) [????] 0518 0518 0518 0518 0518 0518 0518|55
ID:19(HEAD_PAN) [????] 0510 0606 0606 0606 0606 0606 0510|55
ID:20(HEAD_TILT) [????] 0541 0541 0541 0541 0541 0541 0541|55
PauseTime [ 000] 000 000 000 000 000 000 000|
me(x 8msec) [ 100] 250 200 100 100 100 100 200|

04-27-2015, 08:36 AM
Oh!? I'd really like to see this on video :D

Anybody? Please Please?

04-27-2015, 08:42 AM
I'll see what I can do tonight. Provided I can post here, getting video up shouldn't be a problem.

04-27-2015, 09:10 AM
I really have to understand how this RME thing work for motion :-p

04-27-2015, 09:11 AM
Do you move your robot by hands to make him do the pose and save the servos position step by step?


04-27-2015, 09:39 AM
I second it, that it would be great to see a video.

As for uploading, I believe the forum is setup to only allow certain types of files to uploaded as to hopefully minimize chances of bad things happening. For things like this, I use zip files.


04-27-2015, 03:02 PM
A zip file you say... I'll try to post the motion.bin with the video tonight.

04-27-2015, 08:56 PM
As requested here is the video. Appologies for the feet and head being cut off, I took it sideways and then had to rotate it. He does a little wiggle just before waving, I have fixed that and will upload the motion file next. I didn't do a very good job of tucking the battery cables in before taking the video. I guess I was in a hurry, pardon the mess.

I couldn't attach the zip file, perhaps it was too big so I created a YouTube account (against my better judgement).



04-27-2015, 09:34 PM
Attached is my motion file. Before loading to your HROS1 I would recommend backing yours up. I have modified the init, sit, and walk_rdy poses to suit my HROS1. The default poses seemed to lean my robot a little to far forward. The wave pose is on page 4.

I didn't find the directions on the Darwin site all encompassing so I will try to explain how I did this in an effort to help others that may have similar issues.

You can change to page four by typing "page 004"
You can execute page 004 motion by typing "play" (be ready to steady your robot)
You can turn off just the head pan servo by typing "off 19"
You can then turn the head to a different position.
You can turn the servos back on by typing "on"
Now you will see the new head pan servo position in STP7
STP7 is the 'current state' of the robot
You can move STP7 into STP0 by typing "i 0"
Note that this will insert the new pose and move all the old poses over one.
It will also move the stop line, note that the 'Page Step' parameter on the right incremented by 1.
You can delete STP1 by typing "d 1", note the Page Step updated.
Motion will start at STP0 and will continue to the STP right before the stop line (Page Step).
You can turn all of the servos off by typing "off"
Be ready to catch the robot when you turn the servos off if it is in an unstable pose.
You can change the page name by typing "name" - it will ask for a new name, just type it in.
You can see all of the page names by typing "list"

Any value on the screen can be edited by using the cursor keys to move the cursor to that value and typing "set xxx"; where xxx is the value you want to change it to. Be careful editing STP7 values as the robot will perform the motion at full speed. STP7 shows '????' for values when the servos are off. I suggest keeping them off whenever you can. The servo position values range between 0 and 1023.

You must have a value bigger than 0 for the Time field for each step or it will try to do it instantly or not at all. 200 seems to work well for big motions and 100 works well for small motions. Experiment, but be careful about trying to drive the servos too fast. Be ready to safely pick up or support robot when after you type play. Put the robot in a stable pose, like sit, before turning off all of the servos or be ready to hold the robot after typing off. When the servos are off, you can make any pose and then turn the servos on, if balanced it will hold the pose and you can load it by typing "i x"; where x is the STP number you want to insert it into - remember it will push the other poses to the right. You can also turn off any number of servos (for example leaving the legs supporting, but to move the arms) by typing "off 1 2 3 4 5 6"

Hope this helps and I look forward to seeing some creative motions!


If your using Linux as your desktop OS, FileZilla is an easy way to get files to and from the HROS1. SECPANEL is a nice little terminal program that you may find useful for opening an SSH terminal to the robot. These are much more useful if you give the HROS1 a static IP in your router.


04-27-2015, 11:07 PM

Looks nice.

I assume that the front/back rocking is based on backlash in the servos and linkages.
That being said, I wonder if the 'bot could be made to self-stabilize by adding a gyro sensor (MPU6050 or Bosch BNO055 or whatever) in the head and running a tight control loop to try to keep it stable?
If you tune it wrong, it will make the oscillations worse, but perhaps it could be made good? (Also, perhaps some 1-bit noise in the target posisiton could reduce any modes in the system?)

04-28-2015, 08:58 AM
I believe it is due to backlash also. The robot is not actively ballancing, the servos are just driving to fixed possitions. My understanding is the AX-12's only have a P controller built in... adding an I may help if the servo is overshooting possition or approaching the target to quickly. Andrew pointed me to the following link, this project replaced the AX-12 firmware with firmware that included a PID controller:


04-28-2015, 10:14 AM
That's really cool... I like the waving in the video.

Thanks for posting that online to share :D

04-30-2015, 01:19 AM
Just wanted to say a quick thank you to the Trossen team. I see many posting on the forum and trying to help us all out well after traditional work hours.

I would have played Styx in the background, but Youtube doesn't seem to have it.


04-30-2015, 09:30 AM

05-02-2015, 10:59 PM

It is Saturday night - Who is goin' to the club?

Cheesy music not included...

05-03-2015, 02:09 PM
Hah! Thats cool.. in my head I was hearing the Bee Gees, Stayin Alive :p

05-04-2015, 11:31 AM
We just added some new poses, you can grab them from the git repo. More info on integrating poses with your own is here

and we've got videos of the poses here


Thanks to Intern Wade for the new poses!

05-04-2015, 02:32 PM
I've seen that video with the RME shown on the side. I guess I never got past how bad I think that thing needs a GUI.

Regardless, these videos are great. I really like to see whats going on with the HR-OS1.

05-04-2015, 04:28 PM
I totally agree r3n33, I'm thinking of creating a web-based / html5 / javascript gui. One of the biggest things I'd like to simplify is merging and bringing in poses from different data files.

That all being said, the command line gui of the RME isn't that worst, and certainly gets the job done.

05-04-2015, 08:51 PM
Thanks for the poses. Love the Whyyy pose ;-)

05-05-2015, 02:39 PM
the poses are awesome, really, thanks