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DRCSIM: model.sdf needs to be updated

asked 2012-12-04 20:51:31 -0600

cga gravatar image

updated 2013-01-11 19:03:44 -0600

gerkey gravatar image

drc_robot model.sdf needs to be updated to match the current drc_skeleton.cfg mtorso, l_uglut, l_lglut, l_talus, r_uglut, r_lglut, r_talus moi are out of date

For example:
    struct mtorso
            index   = 2
            parent_link = ltorso
            parent_kin_dof = back.mby
            mass   = 0.55
            moi_xx = 0.00045418082817329496
            moi_xy = -6.1076431791225316e-05
            moi_xz = 3.9400936229127748e-05
            moi_yy = 0.00048328164990909611
            moi_yz = 5.2746296530367189e-05
            moi_zz = 0.00044421486752431325
            com_x  = -0.0081626617
            com_y  = -0.013124485
            com_z  = 0.03059743

vs. link name="mtorso" inertia ixx="0.01" ixy="0" ixz="0" iyy="0.01" iyz="0" izz="0.01"

Some joints like back_mby are also out of date.

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answered 2012-12-04 21:13:12 -0600

hsu gravatar image

I believe this has been addressed by issue #36 and pull request #37. Please let me know if I missed something.

Thanks, John

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Comments

The values were corrected as of drcsim 1.3.1 (and possibly earlier).

gerkey gravatar imagegerkey ( 2013-01-11 19:08:37 -0600 )edit
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Asked: 2012-12-04 20:51:31 -0600

Seen: 113 times

Last updated: Jan 11 '13