Remove the joint limits for 48DOF human models
kouroshD opened this issue · 6 comments
kouroshD commented
Following the investigation during risk assessment sprint, thanks to @lrapetti insights, we noticed the base vs human configuration mismatch is due to the human joint limits in 48 DOFs. The idea is to remove those limits similar to 66DOF models.
cc @Yeshasvitvs
kouroshD commented
@Yeshasvitvs @lrapetti I do not have access to add it to milestone and assign it! Feel free to do it.
kouroshD commented
At the moment with consideration of the joint limits the results are like:
testWBVisualization-2021-04-14_22.17.45-2021-04-26_11.36.35.mp4
When we remove the joint limits, the results is shown in the following
testWBVisualization-2021-04-14_22.17.45-2021-04-26_11.33.17.mp4
kouroshD commented
Similar to 66 DOF models,
I will put
+10 rad and - 10 rad as the joint limits for all the 48 DOF models.kouroshD commented
Related PR #22
I have tested for the lifting task and the visualization for all the models were as expected.
claudia-lat commented
May we close this issue @kouroshD?