bodyAccB change with random key-value in yaml

[N1ckfm]

Hi, I've noticed that when I add any key-value to the yaml file in the controller use or not use it in the controller, it indirectly affects the bodyAccB in this case the surface of the foot in the HRP4.

For example in some cases if the key is more than 15 characters or depend the number of item inside I get:

text:
  value1: 1.0
  value2: 1.0

for parentIdx: 18 real.bodyAccB()[parentIdx]:

7.51457e+199 9.53545e-307 5.92716e+228 1.25757e+180 7.35519e+223 9.54083e-307

In other cases for the same condition but in other position in the yaml file:

text:
  value1: 1.0
  value2: 1.0

for parentIdx: 18 real.bodyAccB()[parentIdx]:

0 1.56125e-321 0 0 0 0

• I tried with a yaml converter.
• I am not using tab for respect the structure of yaml.
• The values ​​are not being used but they still affect acceleration.
• You can read and write the yaml file normally and load the data into the controller.

I will appreciate the comments to which this strange behavior is due. Thanks Nick

[gergondet]

I don't think real.bodyAccB() is ever computed by the observers so you are looking at unitialized values. They might be influenced by other things in the program, including the content of the configuration.

You can run: real.forwardAcceleration() to update bodyAccB based on the other data in the real instance.