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digitrobot.jl's Introduction

DigitRobot.jl

This package provides URDF, meshes and inverse kinematics solvers for the Agility Robotics Digit Robot.

digitrobot.jl's People

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digitrobot.jl's Issues

not compatible with the matlab robotic toolbox

Hi, it seems that this urdf is not compatible with the Matlab robotic toolbox for the following reason:

  1. scale factor cannot be negative.
  2. *.obj can not be shown on the Matlab visualizer.
    Is there a plan to update this?

Incorrect inertial values for left and right elbow links

I was taking a look at loading your digit URDF model file into Drake when it threw an error for physically infeasible inertial values.

It appears that the left_elbow and right_elbow inertial values have been copied over from the digit mjcf file incorrectly.

The left elbow inertial values should be
<inertia ixx="0.000476" ixy="-2.9e-05" ixz="0.001403" iyy="0.009564" iyz="9e-06" izz="0.009437"/>

and the right elbow should be
<inertia ixx="0.000476" ixy="2.9e-05" ixz="0.001403" iyy="0.009564" iyz="-9e-06" izz="0.009437"/>

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