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osrf / drcsim

Repository for the DRC project.
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Start inside vehicle for Task 1 #436

Closed osrf-migration closed 9 years ago

osrf-migration commented 10 years ago

Original report (archived issue) by Steve Peters (Bitbucket: Steven Peters, GitHub: scpeters).

The DRC Trials Task Descriptions states that Atlas should start inside the vehicle for Task 1. Currently it spawns standing next to the vehicle. We should figure out how to start inside the vehicle.

osrf-migration commented 9 years ago

Original comment by Jackie K (Bitbucket: jacquelinekay).

I'll take this

osrf-migration commented 9 years ago

Original comment by Jackie K (Bitbucket: jacquelinekay).

ah yes, I forgot about that Atlas is dynamically spawned through robot_initial_pose ROS parameters, not by anything in SDF... I may end up adding a "robot_initial_state" parameter that specifies initial joint angles, so that Atlas can start sitting down in this task.

Ah, I suppose there's a "SetSeatingConfiguration" and a "SetStandingConfiguration" function in AtlasCommandController. Perhaps it can be as simple as making a bool parameter to toggle sitting or standing in the spawn configuration.

osrf-migration commented 9 years ago

Original comment by Jackie K (Bitbucket: jacquelinekay).

https://osrf-migration.github.io/drcsim-gh-pages/#!/osrf/drcsim/pull-request/489/start-atlas-inside-car-for-task-1

osrf-migration commented 9 years ago

Original comment by Jackie K (Bitbucket: jacquelinekay).