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jeljaik / WB-Team-Issues

This repository serves as a container of all the main issues related to the realization of the first year demo of the european project KOROIBOT.
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Prepare simulator for walking tests. #27

Open jeljaik opened 9 years ago

jeljaik commented 9 years ago

TO DO:

traversaro commented 9 years ago

More details?

francesco-romano commented 9 years ago

Well.. we don't know... For example:

traversaro commented 9 years ago

:+1: , then cc @luca-fiorio

jeljaik commented 9 years ago

Updated joint limits in the SDF https://github.com/robotology-playground/icub-gazebo/commit/ea66269a9d80f289d764076189608d897a8d847d

jeljaik commented 9 years ago

Updated friction parameters thus obtaining more stable contacts. https://github.com/robotology-playground/icub-gazebo/commit/e08e5a6986267e67433f03f762b6aef447291a4b

CC. @andreadelprete We managed to play back a Capture Point based walking trajectory in simulation with these parameters, no particular sliding occurred. If you're interested, you might wanna update your SDF to this commit, or this one https://github.com/robotology-playground/icub-gazebo/commit/ea66269a9d80f289d764076189608d897a8d847d in which joint limits were also fixed.

jeljaik commented 9 years ago

Most recent working version with updated trajectories respecting the true joint limits: https://github.com/robotology/codyco-modules/commit/56eb93801e27ba3bd96701a23a2542b1b5f37b7b

jeljaik commented 9 years ago

C.C. @nunoguedelha @prashanthr05 This is the issue in which I reported the changes done in the SDF for better friction modelling.