Open andreadelprete opened 10 years ago
Also the ankle-pitch limits are significantly different. For the left-ankle pitch icub.sdf has:
<lower>-0.4490658504</lower>
<upper>0.8679448709</upper>
whereas iCubGenova03.sdf has:
<lower>-0.733038</lower>
<upper>0.366519</upper>
cc @luca-fiorio @francesco-romano @jeljaik
Yes, we noticed just yesterday.
Jorhabib Eljaik Gómez,Ph.D. Student - Istituto Italiano di Tecnologia Dept. of Robotics, Brain and Cognitive Sciences Cognitive Humanoids Laboratory e-mail: jorhabib.eljaik@iit.it Cel: +39 388 352 33 85 Tel: +39 010 71781 420 Fax: +39 010 7170817
On Wed, Dec 10, 2014 at 10:20 AM, Silvio Traversaro < notifications@github.com> wrote:
cc @luca-fiorio https://github.com/luca-fiorio @francesco-romano https://github.com/francesco-romano @jeljaik https://github.com/jeljaik
— Reply to this email directly or view it on GitHub https://github.com/robotology-playground/icub-model-generator/issues/5#issuecomment-66423814 .
In my opinion it is not an easy task to define span [j_min, j_max]
for all joints. It might be feasible only for some. There are situations in which the range of a joint depends on previous and therefore the configuration space is quite a complex manifold. If we really want something like [j_min, j_max]
, we can try to list some possibilities:
This is a general instance of the problem of getting correct joint limits.
cc @S-Dafarra
It seems that the joint limits for the two hip-roll joints are wrong. See for instance the left-hip-roll joint of generated/gazebo_models/iCubGenova03/iCubGenova03.sdf:
and compare the joint limits with the one of the model of the model /icub/icub.sdf in the icub_gazebo repository:
The problem is the same for the right-hip roll and for the iCubGenova01 model.