[JVRC1] Generate fixed-based variant in the air - Githubissues

jrl-umi3218 / mc_openrtm

Interface between OpenRTM and mc_rtc

BSD 2-Clause "Simplified" License

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[JVRC1] Generate fixed-based variant in the air #10

Closed arntanguy closed 4 years ago

arntanguy commented 4 years ago

Generates:

a floating-base model main.wrl with the Pelvis considered as a free joint
a fixed-base model main_fixed.wrl with the Pelvis considered a a fixed joint
sim_mc_fixed.cnoid a cnoid dynamic simulation using the fixed robot (robot floating in the air)

This notably allows to run the force sensor calibration controller in the dynamic simulation.