Lift keeps stopping working

[mjlangley]

Lift has keeps stopping working! All other hexabody methods seem to work, but Lift, is completely ignored once it stops responding. It returns a nill error, if logging it.

The problem seems to happen after executing a complex skill I’m working on, a few times.

I’m pretty sure I am calling start followed by stand on skill start, and relax followed by close on skill close.

Once disabled, a simple skill that only opens, stands, lifts, and closes, which was working fine repeatedly as a control before running the complex skill, also stops working.

The only way to get Lift working is to turn the Hexa off and on.

The complex skill uses movehead, spin, and walk, as well as a 36 capacity float64 array. spin and walk are used in for loops (up to 18 times for spin, 5 times for walk).

Any ideas why this particular method, Lift would stop but others are fine?

[Mingzhao.Xu]

It sounds like a problem in the HEXA’s system, we will find out what happened and let you know soon.

[mjlangley]

Hi Mingzhao,

I’ve since narrowed this down.
It’s ‘Walk’. It always causes the fault. Afyer running it just once, the hexa won’t stand except when walking. Until a reboot.

However, Walkcontinously works fine and has no after effect (after StopWalkingContinuously). I’ve changed all my skills to use continuous walking instead, sleep, and stop, and everything works fine now.

I had it free roaming at lift 35 for half an hour last night.

Walk only makes a partial step and when I was using it, I had to call it repeatedly in a loop to effect any actual walking. This may be a factor. With hindsight I’m not sure what it is for or how one is meant to use it. And of course it then stops lift and stand working - I think it relaxes the legs irrecoverably - possibly due to overlapping walk commands or an overflowed stack, or something.

I hope this helps. I’d like to know what is wrong.

Regards,

Matt.

[Mingzhao.Xu]

Hi @mjlangley,

Great thanks for your patience. The problem is exactly as what you said.

Function Walk() will make function Lift() and SelectGait() stop working unless restarting the robot. But WalkContinously() has no problem.

We find that we manage the walking status badly in Walk() function, and it can’t recover until reboot HEXA. We already add a note in the documentation for this bug, and it will be fixed in next version.

Thank you for your feedback again, it’s very helpful for us. If there are any further questions or problem please just let us know.

Regards,

Mingzhao

[mjlangley]

Thanks Mingzhao. That’s fantastic, well, obviously it will be better when it is fixed, but it’s good to have found the issue.

It’s good to work together to resolve issues.

And I am very relieved my unit is not faulty. I’ve grown very fond of it already.

Best regards,

Matt.