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osrf / drcsim

Repository for the DRC project.
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URDF (especially back joints) are off from current Atlas robot. #428

Closed osrf-migration closed 10 years ago

osrf-migration commented 10 years ago

Original report (archived issue) by Patrick Beeson (Bitbucket: Patrick Beeson).

The URDF does not currently reflect the true state of the Atlas robot. First, it never really properly modeled the Atlas robot prior to the Trials, but now, with changed back joints it is VERY far off. BDI claims that OSRF URDF is the model we should be using as an oracle, but it is never adequately aligned with the physical realities of the robot.

osrf-migration commented 10 years ago

Original comment by Stefan Kohlbrecher (Bitbucket: Stefan_Kohlbrecher).

I´d also like to ping the status of this issue. Also note that there will be significant changes to the robot in the coming months and it would certainly be desirable to have some coordination between BDI and OSRF so updated models are made available to teams in a timely fashion. Having every team try to work out basic kinematic properties by measuring the robot certainly seems to be a avoidable waste of resources.

osrf-migration commented 10 years ago

Original comment by Nate Koenig (Bitbucket: Nathan Koenig).

osrf-migration commented 10 years ago

Original comment by Patrick Beeson (Bitbucket: Patrick Beeson).

It turns out that our new back joints that were installed after the Trials had misaligned magnets. It was the hardware after all. I should have closed this a while ago.

osrf-migration commented 10 years ago

Original comment by Patrick Beeson (Bitbucket: Patrick Beeson).

We will still need updated leg and arm models when those are installed, but I believe there is another issue regarding those. The back joints are stronger but the same range of motion and same link sizes.

osrf-migration commented 10 years ago

Original comment by Patrick Beeson (Bitbucket: Patrick Beeson).

Incorrect issue. Hardware fix was needed.

osrf-migration commented 10 years ago

Original comment by John Hsu (Bitbucket: hsu, GitHub: hsu).

thanks for the update, can you go ahead and mark the ticket resolved?