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robotology-legacy / codyco-modules

Whole-body Compliant Dynamical Contacts in Cognitive Humanoids
www.codyco.eu
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Modified wholeBodyDynamics config for standup demo simulation #245

Closed gabrielenava closed 6 years ago

gabrielenava commented 7 years ago

Edited wholeBodyDynamics .xml files for simulations. Added hands ports, and other modifications for running wholeBodyDynamics during standup demo.

gabrielenava commented 7 years ago

Done with https://github.com/robotology/codyco-modules/pull/245/commits/3d7cf166366faf09c27b2a59332fb3da58783472

traversaro commented 7 years ago

Great, the two parameters version should work fine. Can you propagate this changes to all the configuration files, so we keep consistency?

gabrielenava commented 7 years ago

I'm not sure about propagating these changes, because of this issue. Maybe it is better to investigate first why the real robot has this behaviour before changing WBD configuration.

traversaro commented 6 years ago

@gabrielenava What is the status of this?

gabrielenava commented 6 years ago

The blocking issue has been recently solved, but in the end it turns out that for the real robot we still need two different configurations (one for yoga and the other for standup), and we cannot merge the two configurations together as for the simulation.

traversaro commented 6 years ago

Ok, so in the meanwhile we just merge this PR?

gabrielenava commented 6 years ago

Yes, for me we can merge this PR.

traversaro commented 6 years ago

@gabrielenava Sorry gabri, I forgot to merge this branch, can we merge it now?

gabrielenava commented 6 years ago

In theory yes, but I saw now that not all travis tests have been passed. Can we merge anyway?

traversaro commented 6 years ago

Yes, it is a problem that was solved by https://github.com/robotology/codyco-modules/pull/251 but is still present in this old branch.