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DRCSIM: Loss of dynamics parameters accuracy

asked 2012-12-04 20:54:52 -0500

cga gravatar image

In general the conversion from drc_skeleton.cfg to model.sdf is dropping bits. For example:

            moi_xx = 0.0039092029372626179
            moi_xy = -5.0449050133996959e-08
            moi_xz = -0.00034215713173324773
            moi_yy = 0.0034169356417788309
            moi_yz = 4.8711939124200493e-07
            moi_zz = 0.0017449235428106818
            com_x  = -0.01129844
            com_y  = -3.1536621e-006
            com_z  = 0.074683465

becomes inertia ixx="0.0039092" ixy="-5.04491e-08" ixz="-0.000342157" iyy="0.00341694" iyz="4.87119e-07" izz="0.00174492"

Although this is probably negligible, it is not wise to let the dynamics model parameter "resolution" be determined by how "%g" works, and raises the question of which is the "true" model.

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answered 2012-12-06 12:48:16 -0500

hsu gravatar image

You are correct in that the digits got chopped off in my conversion script. Can you file an issue ticket here? Thanks, John

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answered 2019-05-30 06:53:44 -0500

Loss of the all dynamics parameters that have the all frictions on this it was good to have the all aspect on this. There was much work about the writing was on this has the all famous writers on it that was good. I can also get the all codes from this that was useful among the all frictions.

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Asked: 2012-12-04 20:54:52 -0500

Seen: 242 times

Last updated: Dec 06 '12