Robot Falls Over on Startup

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Original report (archived issue) by Mathew DeDonato (Bitbucket: mdedonato NA).

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The robot switched to stand mode, and falls over backwards. This happens when the simulator is the only thing running.

Pre-release 4.1.7

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Original comment by Mathew DeDonato (Bitbucket: mdedonato NA).

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This seems to happen with the V3 and V4 models, but not the V1 model. I suspect it has to do with the backpack.

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Original comment by Jackie K (Bitbucket: jacquelinekay).

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This is a symptom of the fact that the PID controllers for Atlas V3/V4 still needs to be tuned to match the new model. @hsu and I are taking a stab at fixing it this week.

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Original comment by Mathew DeDonato (Bitbucket: mdedonato NA).

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Has there been any progress on this?

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Original comment by Jackie K (Bitbucket: jacquelinekay).

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It's now in a pull request. We plan to make a new release of drcsim this week, so the changes will be available in debs soon.

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Original comment by Jackie K (Bitbucket: jacquelinekay).

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• changed state from "new" to "resolved"

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Original comment by Jackie K (Bitbucket: jacquelinekay).

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• changed state from "resolved" to "open"

forgive me, I closed this issue too hastily. Atlas v4 and v5 will not stand up if they have are spawned with hands

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Original comment by Dave Kotfis (Bitbucket: dkotfis).

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Using the new sim interface, we are able to stand with V3 and V4 even with hands. V3 falls over when attempting to take a step, though. We have not tried stepping with V4 yet. http://youtu.be/t-_tExRy1gY

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

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• changed priority from "critical" to "blocker"

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

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Using drcsim-prerelease 4.2.5

Atlas v4 and v5

• Will stand on start with or without BDI library.
• Requires BDI library 3.0.2, or your own custom cotroller, to step

Atlas v3

• Requires BDI library 2.10.2

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

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• changed priority from "blocker" to "minor"

Downgrading this because drcsim-prerelease works with Atlas v4 and v5.

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

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• set assignee_account_id to "557058:095b1e12-74ed-4e20-b44f-2f0745b616e0"
• set assignee to "nkoenig (Bitbucket: nkoenig, GitHub: nkoenig)"

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

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This is fixed with drcsim 4.2.1?

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Original comment by David Conner (Bitbucket: dcconner).

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I have not seen this issue recently, unless the BDI library is not installed over the dummy shell library.

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Original comment by Steve Peters (Bitbucket: Steven Peters, GitHub: scpeters).

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• changed state from "open" to "resolved"

please comment if the issue persists and we will re-open