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robotology / human-gazebo

URDF models of humans created to perform human robot interaction experiments.
GNU Lesser General Public License v2.1
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Remove the joint limits for 48DOF human models #21

Closed kouroshD closed 3 years ago

kouroshD commented 3 years ago

Following the investigation during risk assessment sprint, thanks to @lrapetti insights, we noticed the base vs human configuration mismatch is due to the human joint limits in 48 DOFs. The idea is to remove those limits similar to 66DOF models. cc @Yeshasvitvs

kouroshD commented 3 years ago

@Yeshasvitvs @lrapetti I do not have access to add it to milestone and assign it! Feel free to do it.

kouroshD commented 3 years ago

At the moment with consideration of the joint limits the results are like:

https://user-images.githubusercontent.com/17707730/116062063-dafef280-a683-11eb-94bd-57ef56d3a5f6.mp4

When we remove the joint limits, the results is shown in the following

https://user-images.githubusercontent.com/17707730/116062121-ea7e3b80-a683-11eb-8530-2494530fc89a.mp4

kouroshD commented 3 years ago

Similar to 66 DOF models, https://github.com/robotology/human-gazebo/blob/6dd5aabfbfe105896af6ccad490f147122214617/humanSubject01/humanSubject01_66dof.urdf#L926 I will put +10 rad and - 10 rad as the joint limits for all the 48 DOF models.

kouroshD commented 3 years ago

Related PR https://github.com/robotology/human-gazebo/pull/22

I have tested for the lifting task and the visualization for all the models were as expected.

claudia-lat commented 3 years ago

May we close this issue @kouroshD?

lrapetti commented 3 years ago

Done in https://github.com/robotology/human-gazebo/pull/22