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icub-tech-iit / ergocub-gazebo-simulations

Repository containing the models and the simulations for ergoCub
BSD 3-Clause "New" or "Revised" License
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ergocub stickbot not starting properly in gazebo #23

Closed mebbaid closed 2 years ago

mebbaid commented 2 years ago

when I drop the stickbot in gazebo, i observe the following

https://user-images.githubusercontent.com/36491318/153630974-982a24dd-b1b6-4dcc-a37a-a712a9efe652.mp4

and the following warning is printed in the terminal

Warning [parser.cc:833] XML Attribute[frame] in element[pose] not defined in SDF, ignoring.
Warning [parser.cc:833] XML Attribute[frame] in element[pose] not defined in SDF, ignoring.
Nicogene commented 2 years ago

Hi @mebbaid

this is due to the missing collisions in the feet, we will commit the fix soon, sorry for that!

traversaro commented 2 years ago

Could this be also related to https://github.com/icub-tech-iit/urdf-modifiers/issues/6 ?

mebbaid commented 2 years ago

https://github.com/ami-iit/component_ergocub/issues/63#issuecomment-1038816748

@Nicogene thanks for the heads up. hopefully this may also fix this inconsistency in the simulator thinking the robot is flying

GrmanRodriguez commented 2 years ago

Could this be also related to https://github.com/icub-tech-iit/urdf-modifiers/issues/6 ?

No, in this case the model never had collisions on the feet to begin with

GrmanRodriguez commented 2 years ago

hopefully this may also fix this inconsistency in the simulator thinking the robot is flying

Worth mentioning that we added collisions locally before testing. We just haven't committed that change

GrmanRodriguez commented 2 years ago

For now collisions on the feet have been added on this branch. Try checking out the branch and building and it should spawn without falling

cc @mebbaid

mebbaid commented 2 years ago

For now collisions on the feet have been added on this branch. Try checking out the branch and building and it should spawn without falling

following @GrmanRodriguez advice and checking out to the recommended branch, now it works and this is the result.

https://user-images.githubusercontent.com/36491318/154055043-80bdbdd1-6e28-4ada-94c7-27ed64b89536.mp4

closing the issue.

lrapetti commented 2 years ago

cc @SimoneMic

lrapetti commented 2 years ago

@GrmanRodriguez is there any plan to merge the model, with the collision on the feet, to the master?

GrmanRodriguez commented 2 years ago

Hi @lrapetti here is the PR for adding the walking and balancing experiments. This PR also adds the collision of the feet.

lrapetti commented 2 years ago

Hi @lrapetti here is the PR for adding the walking and balancing experiments. This PR also adds the collision of the feet.

Great! Thanks!