BDI cfg parser precision

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Issue #55 wontfix
Thomas Koletschka created an issue

As pointed out by Chris[1] the BDI cfg to urdf parser is dropping bits resulting in a loss in precision (although negligible probably, but still not good). The soft limits also shouldn't be set outside the hardware limits.

[1]http://answers.gazebosim.org/question/405/drcsim-loss-of-dynamics-parameters-accuracy/

Comments (2)

  1. John Hsu

    If the soft limits were inside of the hard limtis, the safety controllers will kick-in, adding additional complexity to dynamics of the joint actuation. Not sure if it's a feature we want to use for now.

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