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icub-tech-iit / ergocub-gazebo-simulations

Repository containing the models and the simulations for ergoCub
BSD 3-Clause "New" or "Revised" License
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Added gym-like movements experiment #21

Closed GrmanRodriguez closed 2 years ago

GrmanRodriguez commented 2 years ago

This PR adds another experiment to the stickBot: experiments/gym.

The idea is to move the robot in ways that will add stress to single joints in a worst-case-scenario.

The three gym-like movements added so far are as follows:

Name Stressed Joint Example
curls r_elbow, l_elbow curl
front_raises r_shoulder_pitch, l_shoulder_pitch front-raise
lateral_raises r_shoulder_roll, l_shoulder_roll lateral-raise
GrmanRodriguez commented 2 years ago

Alongside @Nicogene we have added more exercises to test the torso joints:

Name Stressed Joint Example
twists torso_yaw twists
bends torso_roll bends
extensions torso_pitch extensions