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BDI walking does not work in my PC.

asked 2013-04-09 02:11:26 -0500

Yuto Nakanish gravatar image

updated 2013-04-09 02:19:22 -0500

hi.

I tried BDI walking script, but it did not work. Atlas failed to walk in simulation world. Is it 'my' problem? I want to know whether another user can success atlas BDI walking or not.

I did following process for testing. drcsim version is 2.3.

1)start simulation

 $ roslaunch atlas_utils atlas.launch

2)run BDI walking scripts

 $ cd /usr/share/drcsim-2.3/ros/atlas_utils/scripts
 $ ./5steps.py

Then, atlas falls down.

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If you reset the world/model pose, and then run 5steps.py again, it works (for me at least). Not that this is all that helpful, but if you just needed to collect some data...

klowrey gravatar imageklowrey ( 2013-04-09 12:04:50 -0500 )edit

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answered 2013-04-09 05:08:26 -0500

Jose Luis Rivero gravatar image

It's a known (and fixed) problem for the current drcsim_2.3 packages http://answers.gazebosim.org/question/2274/atlas-failing-in-boston-dynamics-controller-demo/.

Immediate solution: It was fixed in the drcsim 2.3 branch of drcsim repository. To have it working compile drcsim from source using the drcsim_2.3 branch.

Short term solution: A short release cycle for this 2.3.1 version is planned which will ship this fix and can be installed using ubuntu packages.

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I uses 2.3.1 but the robot falls ii drcsim 2.3.1-1~precis Darpa Robotics Challengue (DRC) simulator

Kei Okada gravatar imageKei Okada ( 2013-04-10 10:49:11 -0500 )edit
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answered 2013-04-10 17:23:32 -0500

dcconner gravatar image

updated 2013-04-10 17:25:00 -0500

The released version is still 1.0.3, which requires the smaller time step and higher iterations.

Follow the tutorial to set the world to use 90 iterations and 0.000333 second time step.

roslaunch atlas_utils atlas.launch gzworld:=atlas_AtlasSimInterface.world

That works for me.

Until 1.0.5 is released, the robot falls at 40 iters and 0.001 second time step.

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Asked: 2013-04-09 02:11:26 -0500

Seen: 160 times

Last updated: Apr 10 '13