Closed kouroshD closed 3 years ago
@Yeshasvitvs @lrapetti I do not have access to add it to milestone and assign it! Feel free to do it.
At the moment with consideration of the joint limits the results are like:
When we remove the joint limits, the results is shown in the following
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.
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.
May we close this issue @kouroshD?
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