Difference between the URDF and VREP models

poppy-project / poppy-humanoid

Poppy Humanoid is an open-source and 3D printed humanoid robot. Optimized for research and education purposes, its modularity allows for a wide range of applications and experimentations.

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Difference between the URDF and VREP models #38

Open mathieu-celerier opened 4 years ago

mathieu-celerier commented 4 years ago

I've been working on poppy at schools for few months now, working on compliant control.

I'm only working in simulation on V-REP for the moment, I use the URDF to rebuild the complete model of the robot in my program, and I noticed a difference on the r_soulder_x.

While standing up, arms down in V-REP, the robot plot from URDF have the right arm straight up.

Is it an issue or an intended behaviour ?

Mat

ymollard commented 4 years ago

This is unintended I guess, now let's try to find the issue :)

I think that link should be rotated to match the left side:

I would say that yaw = -1.5707963267949 there should be positive instead.