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ADVRHumanoids / XBotControl

XBotControl framework: XBotCore + OpenSoT + CartesI/O
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Problems when sending torque references #17

Closed Yisoo-Lee closed 5 years ago

Yisoo-Lee commented 5 years ago

Hi @liesrock , It seems like sending torque reference through function "robot->setEffortReference" or "model->setJointEffort" doesn't work. (Both stiffness and damping are set to zero before using the functions.) I tested some cases with @EnricoMingo to control joint angles with torque references, but all the results show weird behavior in the simulation. When we check the log, unlike the reference torque in the plugin I created, the 'effort_reference' in XBotCore_log has different values. As you can see in the following plots, 'effort_reference' in XBotCore_log has a constant value.

TorqueRef_in_PlugIn effort_reference_in_XBotCore

liesrock commented 5 years ago

Hi Yisoo, thanks a lot for the detailed description: can you give me more information on how to reproduce the issue?

I will try to run your plugin and check what you are saying.

Yisoo-Lee commented 5 years ago

@liesrock , I sent the related material by email. Thank you!

Yisoo-Lee commented 5 years ago

There was a mistake in my code. The problem is solved now.