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robotology-legacy / codyco-modules

Whole-body Compliant Dynamical Contacts in Cognitive Humanoids
www.codyco.eu
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DynTree::getDOFIndex : DOF 5 of part 6 not found #79

Closed andreadelprete closed 9 years ago

andreadelprete commented 10 years ago

When using the wholeBodyInterface in wholeBodyReach now I get the following error messages:

DynTree::getDOFIndex : DOF 0 of part 1 not found
DynTree::getDOFIndex : DOF 1 of part 1 not found
DynTree::getDOFIndex : DOF 2 of part 1 not found
DynTree::getDOFIndex : DOF 0 of part 3 not found
DynTree::getDOFIndex : DOF 1 of part 3 not found
DynTree::getDOFIndex : DOF 2 of part 3 not found
DynTree::getDOFIndex : DOF 3 of part 3 not found
DynTree::getDOFIndex : DOF 4 of part 3 not found
DynTree::getDOFIndex : DOF 0 of part 4 not found
DynTree::getDOFIndex : DOF 1 of part 4 not found
DynTree::getDOFIndex : DOF 2 of part 4 not found
DynTree::getDOFIndex : DOF 3 of part 4 not found
DynTree::getDOFIndex : DOF 4 of part 4 not found
DynTree::getDOFIndex : DOF 0 of part 5 not found
DynTree::getDOFIndex : DOF 1 of part 5 not found
DynTree::getDOFIndex : DOF 2 of part 5 not found
DynTree::getDOFIndex : DOF 3 of part 5 not found
DynTree::getDOFIndex : DOF 4 of part 5 not found
DynTree::getDOFIndex : DOF 5 of part 5 not found
DynTree::getDOFIndex : DOF 0 of part 6 not found
DynTree::getDOFIndex : DOF 1 of part 6 not found
DynTree::getDOFIndex : DOF 2 of part 6 not found
DynTree::getDOFIndex : DOF 3 of part 6 not found
DynTree::getDOFIndex : DOF 4 of part 6 not found
DynTree::getDOFIndex : DOF 5 of part 6 not found
traversaro commented 10 years ago

That was the problem I was mentioning in https://github.com/robotology-playground/idyntree/commit/8cd0d08b2b60ed0d85730c2ca5232dce04b52e8e#commitcomment-8574045 . Unfortunately for some bad design (that was solved in v0.2/new_wbi_ID ) there is a strong coupling between the links present in the urdf file and the iDynTree code itself. Given that the urdf are not present in a unique point, to avoid bigger problems I had to revert the changes we discussed last week. https://github.com/robotology-playground/idyntree/commit/79aa6fc5d783bc989b6f8e8cf6bd25e48ac058f0 The easiest thing you can do is to re-revert locally the line that I commented here: https://github.com/robotology-playground/idyntree/commit/79aa6fc5d783bc989b6f8e8cf6bd25e48ac058f0 and everything should work,

andreadelprete commented 10 years ago

I doubt that's the problem because I'm not using at all the "l_forearm_dh_frame"

traversaro commented 10 years ago

The problem is in the mismatch between the link returned in get_iCub_partition function and the one present in your urdf file. If you generated files with l_forearm_dh_frame, you should use a consistent get_iCub_partition function.

traversaro commented 9 years ago

Solved in v0.2 (new_wbi_ID).

traversaro commented 9 years ago

Solved in https://github.com/robotology/codyco-modules/commit/8684d8a627b5bbef6fbcd2dc52f48aa5f1e63b0d .