Open jeljaik opened 9 years ago
More details?
Well.. we don't know... For example:
:+1: , then cc @luca-fiorio
Updated joint limits in the SDF https://github.com/robotology-playground/icub-gazebo/commit/ea66269a9d80f289d764076189608d897a8d847d
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.
Most recent working version with updated trajectories respecting the true joint limits: https://github.com/robotology/codyco-modules/commit/56eb93801e27ba3bd96701a23a2542b1b5f37b7b
C.C. @nunoguedelha @prashanthr05 This is the issue in which I reported the changes done in the SDF for better friction modelling.
TO DO: