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jrl-umi3218 / mc_openrtm

Interface between OpenRTM and mc_rtc
BSD 2-Clause "Simplified" License
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Bush virtual joints of JVRC1 robot model #32

Open mmurooka opened 1 year ago

mmurooka commented 1 year ago

Many humanoid robot models for Choreonoid simulations (e.g., HRP-robots) have a virtual joints called "bush" at the ankle and PD control to avoid oscillation in force control by the stabilizer. However, the JVRC1 robot model in this repository does not have such "bush" virtual joints, yet the stabilizer works without oscillation in the Choreonoid. Could someone please explain where this difference comes from?

gergondet commented 1 year ago

My understanding is that bush models exist to simulate the behavior of the robots' flexibility at the ankles (hence the bush joints' state is computed by a customizer plugin).

Since JVRC1 does not exist it doesn't have to have simulated flexibility and it makes the setup a bit easier since it does not require to install an extra customizer to run simulations of the robot. (I'm assuming, I was not involved in the organization of the JVRC)