nunoguedelha
commented
3 years ago Add to the models available in the simulator the model of a pendulum.
- [x] Get a model of a pendulum (RRbot model in Gazebo)
- [x] Add the model in the simulation framework.
- [x] Modify the model to emulate a fix based model simulation.
Note: Presently, the simulator only supports floating base models (unless I missed something). Some minor changes to the simulator are required for properly handling fixed base models. I have already some clear ideas on this but for the example simulation, a workaround would be faster.
As a fast workaround, we can just:
- [x] Increase the base mass and rotational inertia to a huge value (ex: 10x the added mass of all other links).
- [x] Add to the base two fixed frames playing the role of "l_sole" and "r_sole" (used to set
Frames.LEFT_FOOT=Frames.BASEandFrames.RIGHT_FOOT=Frames.BASE). - [x] Define the contact vertices on those frames.
This way, the base link will absorb all the inertial and gravity effects due to the other child links, without moving. The contact vertices will keep the base from sinking on the ground. A high friction coefficient will prevent the base to slide on the ground.
CC @traversaro @Giulero @VenusPasandi
I copy Venus who needed to simulate a humanoid model attached to a pole.
traversaro
The goal is to add to the models available in the simulator the model of a pendulum.
Such model could then be the first simple showcase model of the simulator that a non expert user could run on a local machine or on MATLAB online.
The model shall be fix based. This probably requires tweaking either the simulator either the model (refer to https://github.com/dic-iit/matlab-whole-body-simulator/issues/18#issuecomment-804023901).
For this reason, it might also make sense to implement this after #19 .