Legs mirrored

Hexy Questions, Problems and Suggestions
#1

As stated on this topic by Michal, Hardware modifications and upgrades of Hexy

800×600

I have no luck on making hexy’s legs symmetrical and modifying the robot.py. Is there anyone who can show or share me the process and the codes to invert all angles for the knees or ankles of the side legs?

Thanks,
relodan

#2

relodan,

Michal has posted a set of software updates in a thread on this forum. I’ve not done the hardware mods that he’s mentioned, but hopefully that should see you right.

Regards,
Rob

#3

I’m still finding my way to follow Michal’s posts and I’m still stuck figuring how the codes will work. I’m kinda new to this sort of language programming. I hope someone can show the way.

#4

Does anyone know how to make Hexy’s leg symmetrical?

#5

I think the only difference needed is to make the hip section of the leg with the dimple on the outside, rather than the inside.

#6

But this modification required software change in robot.py, where you have to invert all angles for the knees and ankles of the right legs as mentioned by Michal.

I hope someone can share the codes to invert all angles for knees and ankles. I tried but no luck:(

#7

I found the solution for Leg mirror modification. I saw this line in pomoco.py from Michal’s pomoco 1.2 or 2.1 versions and changed the default from False to True:

for more info click this link [url]Hardware modifications and upgrades of Hexy]