-
Notifications
You must be signed in to change notification settings - Fork 17
New issue
Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.
By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.
Already on GitHub? Sign in to your account
Deterioration of performances when Simulink runs with an open scope (with real robot). #236
Comments
I think in general this is a known aspect of Simulink: it does not provide you with any (even soft) real-time guarantees. If you want to run a controller in real time, you should use automatic code generation using Simulink Coder (supported in WB-Toolbox since WB-Toolbox 4), or Simulink Real-Time. For more info, see: |
I think you can reproduce it if you disable the Gazebo synchronized and use the Real-Time one, as you do in the real robot. |
it is MATLAB 2021b |
Description
The issue occurred during a joint data collection on the real robot (iCub Scarlett). The data were collected using a Simulink model that sent joint position references to the robot using a
setPosition
(direct) block.When a scope is open, the model's performance seems to deteriorate. In particular, when using
setPosition
(in position direct) the actuated trajectory is jerky, while the desired one is smooth. Once the scope is closed, the actuation becomes smooth again.The issue occurs even if the scope is already open before running the Simulink model. If instead the scope is opened during the execution of the model, the robot freezes for a while and catches the desired trajectory with a sudden movement. Then continues with the choppy behaviour.
cc @gabrielenava
Platform
We spotted the bug in a data collection in the real robot (iCub Scarlet).
Reproducibility
We tried many times with the real robot and the issue arose every time. Still, we tested only with one machine (
icub29
)I cannot reproduce the issue in simulation. I guess the synchronization with Gazebo prevents it.
Screenshots
The desired vs the measured joint values
A zoom
The blue trajectory (the measured joint values) is jerky.
Additional information
@gabrielenava can you help me with this? I do not remember the versions of software on icub29 :(
The text was updated successfully, but these errors were encountered: