search

mit-biomimetics / Cheetah-Software

MIT License
2.61k stars 926 forks source link

Simulation Error #11

Closed jimy92 closed 5 years ago

jimy92 commented 5 years ago

Hi, I updated the code on October 14th, successfully compiled，and when I ran the simulation on user computer,there are some mistakes.

my code:
    $ ./sim/sim
    $ ./user/MIT_Controller/mit_ctrl m s

Error:
    " Simulation Error
      Control code has an error:
      Control parameter testValue wasn't found in parameter collection user-parameters"

Running a test program has one that always fails $ ./common/test-common [ FAILED ] LegController.FwdKinematicsLegSign

Is it something I did wrong or missed some important steps?

HorsonLiu commented 5 years ago

Load mc-mit-ctrl-user-parameters.yaml first.

jimy92 commented 5 years ago

Thank you very much.

If there is no game controller, how to run the simulation program ?

qiayuanl commented 5 years ago

You can run simulation without ganpad.

On Thu, Oct 17, 2019, 6:23 PM jimy notifications@github.com wrote:

Thank you very much.

If there is no game controller, how to run the simulation program ?

— You are receiving this because you are subscribed to this thread. Reply to this email directly, view it on GitHub https://github.com/mit-biomimetics/Cheetah-Software/issues/11?email_source=notifications&email_token=AFCFRI2HDXMEHBNIU7JOAIDQPA4JNA5CNFSM4JBVRCG2YY3PNVWWK3TUL52HS4DFVREXG43VMVBW63LNMVXHJKTDN5WW2ZLOORPWSZGOEBPTFZI#issuecomment-543109861, or unsubscribe https://github.com/notifications/unsubscribe-auth/AFCFRI5R3GJ2PCYMO5FF33TQPA4JNANCNFSM4JBVRCGQ .

dicarlo236 commented 5 years ago

Sorry, this was our issue, it should be fixed by b99d1a3f7ee59a41d23921ea5f1c515afd1db130

Without a gamepad, you can still run the simulator, but you won't be able to command it to walk around. We use the Logitech F310 gamepad, but I think most similar-looking controllers will also work.

jimy92 commented 5 years ago

Thank， The simulation is working.

Now, when I run the simulation, the dog is shivering on the ground, not standing up. When I click the button "go home", it just jump and then shiver on the ground. I don't have a joystick，Is this right?

I tried the August 20th code，run user/MIT_Controller/mit_ctrl m s，In the center column of the simulator window, set control mode to 10. Once the robot has stopped moving, set control mode 1. Then, set control mode to 4, and the robot will start trotting．

Everything is OK．

When I ran the code on October 17, I had the above questions， Terminal printing error "ESTOP!" set control mode to 10/1/4，there is no response, the simulation response is like the motor torque is not enough, has been shaking.

I see the code in the "RobotRunner.cpp" if( (main_control_settings.mode == 0) && controlParameters->use_rc ) { if(count_ini%1000 ==0) printf("ESTOP!\n"); for (int leg = 0; leg < 4; leg++) { _legController->commands[leg].zero(); } _robot_ctrl->Estop(); }else { ....

Where should I set up "main_control_settings.mode" and "controlParameters->use_rc" ?

jimy92 commented 5 years ago

Good! I saw it in "Robot Control Parameters"

Where can I see the description of these parameters?　Thank you very much.

dicarlo236 commented 5 years ago

Unfortunately, we don't have documentation for all of them yet, and many are currently unused. Most of them are related to gains for the state estimator.

For running the MIT controller with the USB game controller, you should set "use_rc" to 0.

simanxu commented 2 years ago

Unfortunately, we don't have documentation for all of them yet, and many are currently unused. Most of them are related to gains for the state estimator.

For running the MIT controller with the USB game controller, you should set "use_rc" to 0.

This quote really helped me!!! And could you explain the usefulness of use_rc?

simanxu commented 2 years ago

Unfortunately, we don't have documentation for all of them yet, and many are currently unused. Most of them are related to gains for the state estimator. For running the MIT controller with the USB game controller, you should set "use_rc" to 0.

This quote really helped me!!! And could you explain the usefulness of use_rc?

I got it, use_rc = use R/C radios which is conflicts to USB gamepad