Add support for lift height

osrf / drcsim

Repository for the DRC project.

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Add support for lift height #469

Open osrf-migration opened 9 years ago

osrf-migration commented 9 years ago

Original report (archived issue) by GoRobotGo (Bitbucket: GoRobotGo).

Could you add/expose the lift height parameter to the step_params portion of the /atlas/atlas_sim_interface_command topic? This is needed to better control the BDI step.

osrf-migration commented 9 years ago

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

I believe step height is now respected in AtlasSimInterface 3.0.0 from drcsim 4.2 release. Please confirm and close issue if fixed. Thanks!

osrf-migration commented 9 years ago

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

changed priority from "major" to "minor"
set assignee to "hsu (Bitbucket: hsu, GitHub: hsu)"
set assignee_account_id to "557058:f3968cd3-4910-4384-8349-482a6c7889ec"

osrf-migration commented 9 years ago

Original comment by GoRobotGo (Bitbucket: GoRobotGo).

The z value in the pose portion of AtlasBehaviorStepData.msg is used, but there is not a lift_height parameter that I can see. The lift_height parameter is used when stepping over an object such as a cinder block. The start and finish z value would be the same. The swing_height parameter only controls the apex height, not how high the foot is lifted before the swing happens.