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DRC head does not move

asked 2012-11-05 11:48:30 -0500

cga gravatar image

Neither DRC tutorial seems to move the sensor head on the DRC robot (control or animation). The other joints seem to move. The joint that does not is neck_ay. Anyone else have the same problem? Thanks, Chris

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answered 2012-11-05 20:45:54 -0500

cga gravatar image

This problem seems to be due to the following line in the model.sdf file:

<limit effort="5" lower="0.785398" upper="0.785398" velocity="12"/>

which is due to this entry in drc_skeleton.cfg:

struct neck
    struct ay
        offset  = 0.011 0 0.49
        axis    = 0.000000 1.000000 0.000000
        type    = revolute
        kin_min         = 0.785398163   # rad
        kin_max         = 0.785398163   # rad
        vel_min         = -12
        vel_max         = 12
        f_min           = -5
        f_max           = 5

setting a negative lower limit

  <limit effort="5" lower="-0.785398" upper="0.785398" velocity="12"/>

allows animation to work. control doesn't work, presumably because the gains or the torque limit are bad.

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That vote should put you over the karma threshold for voting. Do what I did and use your limited votes on the best answers and question to help seed healthy community participation.

asomerville gravatar imageasomerville ( 2012-11-30 20:34:28 -0500 )edit

answered 2013-01-11 18:27:47 -0500

hsu gravatar image

This should have been fixed a while ago, current release 1.3.1 should contain the fix.

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Asked: 2012-11-05 11:48:30 -0500

Seen: 303 times

Last updated: Jan 11 '13