Wholebodydynamics not running with iCubGazebov2_5 and iCubGazeboV3 models after update to YARP 3.8 #169
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Ok, there are several regression related to that, mainly:
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Anyhow all this modifications should be just on the configuration file side, as most of the required changes in the code were done by @HosameldinMohamed in #167 . |
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@gabrielenava where is the file In particular the file Let me know if this solves the issue. |
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I think the procedure I described in #169 (comment) is now outdated. I have tried what you suggested in #169 (comment) and it kind of worked, but there are still some issues: iCubGazeboV2_5 I did not know which file to run so I chose
when running on a terminal, it failed with file not found error. It was necessary to go into https://github.com/robotology/whole-body-estimators/tree/master/devices/wholeBodyDynamics/app and open a terminal there: at this point, it runs correctly. I have checked my system files and the only iCubGazebov3 Same as the other robot, it worked only when launching from the folder https://github.com/robotology/whole-body-estimators/tree/master/devices/wholeBodyDynamics/app but there was another problem: the robot is oscillating and slowly drifting away in Gazebo: vokoscreen-2023-09-12_17-44-52.mp4I think the contacts parameters are not tuned correctly. This is another problem however, not related (I think) to WBD, and I don't know if it might depend also on my Gazebo version (11.0). When I checked the feet contact forces estimated by WBD for iCubGazebov3 were all close to zero, while for iCubGazeboV2_5 were reasonable values. |
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@gabrielenava Thanks for your feedback! Concerning
It seems that I broke the configuration files installation in #173. It should be fixed in #175. And regarding Screencast_20230912_235556.mp4Also, the estimation of feet contacts seems "normal" in my case: Left foot front Left foot rear Right foot front Right foot rear |
might be something related to my Gazebo version, which is 11.13? I have recently (last week) cloned the robotology-superbuild from scracth, so I should be up-to date with the most recent versions of model-related repos. When I drop the robot in gazebo, contacts are very unstable in my case and the robot drifts away:
this is not happening with iRonCub3 |
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@gabrielenava I upgraded Gazebo to 11.13 (before it was 11.12), and the shaking issue appeared! I think it's worth opening an issue in |
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I think we can close this issue since the configuration files of WBD are now aligned! |
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yes! and I have also opened the issue for the model: robotology/icub-models#209 |
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Great! |
I have tried to use
iCubGazeboV2_5andiCubGazeboV3models in Gazebo and I wanted to also runwholebodydynamics.I have loaded the model in Gazebo and run:
(same for V2_5 but with a different
YARP_ROBOT_NAME)and I have got the following error messages:
Here the output of
yarp name list:Here the complete logger wbd_log.txt
cc @traversaro
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