search

stack-of-tasks / sot-talos

Stack-of-Tasks package for the humanoid robot TALOS from PAL-Robotics
BSD 2-Clause "Simplified" License
0 stars 3 forks source link

Use talos_reduced_v2.urdf. #11

Closed jmirabel closed 4 years ago

jmirabel commented 4 years ago

The COM between v1 and v2 in the initial config is shifted of 1.5cm along z...

gabrielebndn commented 4 years ago

I think we should discuss about this and possibly talk to PAL about this. The changes in the dynamic are surprising and we should understand them

gabrielebndn commented 4 years ago

After discussing at the HPP meeting, I believe this change to be correct for our purposes. It should be merged and released as soon as possible. In the future, we might think of some way for making the system more flexible

olivier-stasse commented 4 years ago

Could you be more specific wrt to flexibility. If this is about the robot model, we can probably read the model from the parameter server. This would make sure that we always something consistant.

gabrielebndn commented 4 years ago

Could you be more specific wrt to flexibility. If this is about the robot model, we can probably read the model from the parameter server. This would make sure that we always something consistant.

By flexibility, I mean a system that does not force to update the package to change the exact model being loaded. For instance, by passing a parameter to roscontrol. This is just a suggestion