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robotology-legacy / codyco-modules

Whole-body Compliant Dynamical Contacts in Cognitive Humanoids
www.codyco.eu
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Fix OnLeftFoot and OnRightFoot joints position for iCubGazeboV2_5 #271

Closed GiulioRomualdi closed 5 years ago

GiulioRomualdi commented 5 years ago

This fixes the joints position for the left and right one foot balancing (for iCubGazeboV2_5)

Previous Fixed
Left leftfail leftfix
Right rightfail rightfix
traversaro commented 5 years ago

@GiulioRomualdi @gabrielenava not urgent, but eventually we need to find a better place were to host these configuration files. I do not have a clear idea on this, to be honest. For which repo are this used? if they are just used for whole-body-controllers, it could make sense to keep them there.

GiulioRomualdi commented 5 years ago

@traversaro you are right. Indeed it is not easy to find the path of homePositionBalancing.ini. I think that the whole-body-controllers mainly use them (but if I remember correctly also @FabioBergonti) and right now I need those configuration files for debugging the code I'm developing. So, what do you think to move the configuration files in another repo? For example https://github.com/robotology/robots-configuration.

traversaro commented 5 years ago

@GiulioRomualdi indeed, with "better place" I meant another repo. robots-configuration could make sense, but it has several complexities (it is used by a lot of robots, its files are actually generated with an automatic procedure not perfectly documented) so it could make sense to have another place for it.

gabrielenava commented 5 years ago

@GiulioRomualdi @gabrielenava not urgent, but eventually we need to find a better place were to host these configuration files. I do not have a clear idea on this, to be honest. For which repo are this used? if they are just used for whole-body-controllers, it could make sense to keep them there.

I have no clear idea about where to put these files, but I agree that the current location is not easy to find. Maybe at this point it may makes sense to put them in whole-body-controllers.

traversaro commented 5 years ago

Maybe at this point it may makes sense to put them in whole-body-controllers.

I think we need a place where they get installed using the robotology-superbuild with ROBOTOLOGY_ENABLE_DYNAMICS is set to ON and ROBOTOLOGY_USES_MATLAB set to OFF. whole-body-controllersat the moment is not installed at all if ROBOTOLOGY_USES_MATLAB is set to OFF.

traversaro commented 5 years ago

@gabrielenava @GiulioRomualdi can we merge this?

gabrielenava commented 5 years ago

For me we can merge.