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Prevent SO101 elbow self-collision within allowed joint range - #332
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SebasNorenaR
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btaba
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| <!-- Joint from upper_arm to lower_arm --> | ||
| <!-- Note: 5-degree calibration offset applied to joint range --> | ||
| <joint axis="0 0 1" name="elbow_flex" type="hinge" range="-1.69 1.69" class="sts3215"/> | ||
| <joint axis="0 0 1" name="elbow_flex" type="hinge" range="-1.69 1.45" class="sts3215"/> |
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sur 1.69 hits contact but 1.45 doesn't have the links parallel with each other, can you push this to the absolute limit before it hits contact? thank you!
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Adjusted to 1.474 rad in 1e4d1a4. First contact is at ~1.4740104 rad (MuJoCo 3.15/3.16); 101 sweep samples below the limit are clear. Generic suite: 375 passed, 1 skipped. |
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Fixes #325.
Set the SO101
elbow_flexjoint and actuator upper limits to 1.474 rad, just below first shoulder/gripper contact at 1.4740104 rad in the neutral-pose MuJoCo sweep (3.15.0 and 3.16.0). Negative limit stays -1.69.The neutral-pose sweep through 1.474 is contact-free. Generic model tests: 375 passed, 1 skipped.
test/model_test.pyremains model-agnostic. No physical hardware validation.