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manuelvogel12 / sara-shield

MIT License
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Investigate robot out of capsules #5

Closed JakobThumm closed 1 year ago

JakobThumm commented 1 year ago

We saw occasions where the capsules did not encapsulate all robot link entirely.

manuelvogel12 commented 1 year ago

I found the problem source: This is caused by simulating gravity. This is how the capsules look in position [2.5, 1.5, 0.0, 0.0, 0.0, 0.0] with simulating gravity: image

And by disabling the gravity simulation in gazebo, by clicking the robot, then select L_X_E on the left side panel, and disabling the gravity checkbox (for every Link L_1_E to L_6_E), this problem can be avoided:

This is what it looks like after disabling gravity. The arm is now fully encapsulated: image

So the problem is not caused by the capsule generation or sara-shield, but by the robot having different joint positions then specified

JakobThumm commented 1 year ago

Great find! Ah, then this is a problem of the joint impedance control. We should ask them to adjust the gravity compensation.

JakobThumm commented 1 year ago

https://github.com/ADVRHumanoids/concert_description/issues/26 Continuation of this issue with IIT :)