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Removing pinning from the hip joint

asked 2012-11-05 20:52:47 -0500

gerkey gravatar image

updated 2012-11-05 20:53:06 -0500

(Forwarded from DRC Forum)

Hi, I understand that balancing is still not implemented, but if I'd wish to implement it, how could I remove the pinning so that the robot would actually fall to the ground. I remember there should be some static tag in the urdf file of the robot (/usr/share/drcsim-1.0/ros/drc_robot_utils ?) but was not able to locate it. Thanks.

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answered 2012-11-12 14:47:27 -0500

DRC_Justin gravatar image

I was able to unpin the hip following the settings for DRCRobotPlugin.cc which I found on bitbucket here:

https://bitbucket.org/osrf/drcsim/pull-request/24/pull-request-21-with-minor-fix-branched/diff#chg-plugins/ros/DRCRobotPlugin.cc

To unpin, run the DRC simulator per the tutorial, and in a separate console publish a topic to /mode:

rostopic pub /mode std_msgs/String "unpinned"

Looks like you've got 4 options for the time being.

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answered 2012-11-06 12:56:59 -0500

nkoenig gravatar image

The next release of the DRC Simulator package, version 1.1.0 I believe, will let you unpin the hip programmatically.

To get a sneak peek, download the DRC Simulator package from Bitbucket. Then look in "plugins/ros/DRCRobotPlugin.cc::SetPluginMode".

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Asked: 2012-11-05 20:52:47 -0500

Seen: 316 times

Last updated: Nov 12 '12