(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.
I was able to unpin the hip following the settings for DRCRobotPlugin.cc which I found on bitbucket here:
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.
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".
Asked: 2012-11-05 20:52:47 -0500
Seen: 394 times
Last updated: Nov 12 '12
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