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robotology-playground / WBI-Toolbox

Simulink Toolbox for rapid prototyping of Whole Body Robot Controllers
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ERROR [mdlOutput] Joint limits could not be computed #50

Closed robertocalandra closed 9 years ago

robertocalandra commented 9 years ago

When trying to use the WBI on iCubDarmstadt01 I am get the following error:

Error reported by S-function 'robotState' in 'iCub_000/Joint Angles/S-Function': ERROR [mdlOutput] Joint limits could not be computed

I read the Issue 30, which seems related, but by following the thread I could still not find a solution that work for me. https://github.com/robotology-playground/WBI-Toolbox/issues/30

I would really appreciate any help to try to solve this issue. -R

Additional info:

mdlInitializeSizes >> BLOCK TYPE IS: 0
mdlStart >> YARP is up and running!!
mdlStart >> About to configure robot... 
||| clearing context
||| adding context [wbit]
||| configuring
||| no policy found
||| default config file specified as icub.ini
||| checking [/home/icub/Roberto/icub-control/icub.ini] (pwd)
||| checking [/home/icub/.config/yarp/robots/iCubDarmstadt01] (robot YARP_CONFIG_HOME)
||| checking [/home/icub/.local/share/yarp/robots/iCubDarmstadt01] (robot YARP_DATA_HOME)
||| checking [/etc/xdg/xdg-ubuntu/yarp/robots/iCubDarmstadt01] (robot YARP_CONFIG_DIRS)
||| checking [/usr/share/upstart/xdg/yarp/robots/iCubDarmstadt01] (robot YARP_CONFIG_DIRS)
||| checking [/etc/xdg/yarp/robots/iCubDarmstadt01] (robot YARP_CONFIG_DIRS)
||| checking [/home/icub/software/share/yarp/robots/iCubDarmstadt01] (robot YARP_DATA_DIRS)
||| checking [/home/icub/software/share/iCub/robots/iCubDarmstadt01] (robot YARP_DATA_DIRS)
||| found /home/icub/software/share/iCub/robots/iCubDarmstadt01
||| checking [/home/icub/software/share/ICUBcontrib/robots/iCubDarmstadt01] (robot YARP_DATA_DIRS)
||| checking [/home/icub/software/src/codyco-superbuild/build/install/share/codyco/robots/iCubDarmstadt01] (robot YARP_DATA_DIRS)
||| checking [/home/icub/software/share/yarp/config/path.d] (robot path.d YARP_DATA_DIRS)
||| checking [/home/icub/software/share/iCub/config/path.d] (robot path.d YARP_DATA_DIRS)
||| checking [/home/icub/software/share/ICUBcontrib/config/path.d] (robot path.d YARP_DATA_DIRS)
||| checking [/home/icub/software/src/codyco-superbuild/build/install/share/codyco/config/path.d] (robot path.d YARP_DATA_DIRS)
||| checking [/home/icub/software/share/iCub/robots/iCubDarmstadt01/icub.ini] (robot)
||| checking [/home/icub/.config/yarp/contexts/wbit] (context YARP_CONFIG_HOME)
||| checking [/home/icub/.local/share/yarp/contexts/wbit] (context YARP_DATA_HOME)
||| checking [/etc/xdg/xdg-ubuntu/yarp/contexts/wbit] (context YARP_CONFIG_DIRS)
||| checking [/usr/share/upstart/xdg/yarp/contexts/wbit] (context YARP_CONFIG_DIRS)
||| checking [/etc/xdg/yarp/contexts/wbit] (context YARP_CONFIG_DIRS)
||| checking [/home/icub/software/share/yarp/contexts/wbit] (context YARP_DATA_DIRS)
||| checking [/home/icub/software/share/iCub/contexts/wbit] (context YARP_DATA_DIRS)
||| checking [/home/icub/software/share/ICUBcontrib/contexts/wbit] (context YARP_DATA_DIRS)
||| checking [/home/icub/software/src/codyco-superbuild/build/install/share/codyco/contexts/wbit] (context YARP_DATA_DIRS)
||| found /home/icub/software/src/codyco-superbuild/build/install/share/codyco/contexts/wbit
||| checking [/home/icub/software/src/codyco-superbuild/build/install/share/codyco/contexts/wbit/icub.ini] (context)
||| checking [/home/icub/.config/yarp/icub.ini] (YARP_CONFIG_HOME)
||| checking [/home/icub/.local/share/yarp/icub.ini] (YARP_DATA_HOME)
||| checking [/etc/xdg/xdg-ubuntu/yarp/icub.ini] (YARP_CONFIG_DIRS)
||| checking [/usr/share/upstart/xdg/yarp/icub.ini] (YARP_CONFIG_DIRS)
||| checking [/etc/xdg/yarp/icub.ini] (YARP_CONFIG_DIRS)
||| checking [/home/icub/software/share/yarp/icub.ini] (YARP_DATA_DIRS)
||| checking [/home/icub/software/share/iCub/icub.ini] (YARP_DATA_DIRS)
||| checking [/home/icub/software/share/ICUBcontrib/icub.ini] (YARP_DATA_DIRS)
||| checking [/home/icub/software/src/codyco-superbuild/build/install/share/codyco/icub.ini] (YARP_DATA_DIRS)
||| did not find icub.ini
yarp: cannot read from icub.ini
ERROR [robotStatus::robotConfig] No option icub_fixed in the config file!
jeljaik commented 9 years ago

Note to self:

Fixed in: https://github.com/robotology-playground/WBI-Toolbox/commit/e49db43a35404ca477f8a4db3625b6ca65ec3cb1

jeljaik commented 9 years ago

Solution:

||| checking [/home/icub/software/share/iCub/contexts/wbit] (context YARP_DATA_DIRS)
||| checking [/home/icub/software/share/ICUBcontrib/contexts/wbit] (context YARP_DATA_DIRS)
||| checking [/home/icub/software/src/codyco-superbuild/build/install/share/codyco/contexts/wbit] (context YARP_DATA_DIRS)
||| found /home/icub/software/src/codyco-superbuild/build/install/share/codyco/contexts/wbit
||| checking [/home/icub/software/src/codyco-superbuild/build/install/share/codyco/contexts/wbit/iCubDarmstadt01.ini] (context)
||| found /home/icub/software/src/codyco-superbuild/build/install/share/codyco/contexts/wbit/iCubDarmstadt01.ini
[robotStatus::robotConfig] icub_fixed is true!
[robotStatus::robotConfig] After reading from config file, params are 
[robotStatus::robotConfig] robot name:    icub 
[robotStatus::robotConfig] urdf file:     /home/icub/software/src/codyco-superbuild/main/WBIToolbox/libraries/wbInterface/conf/wbit/urdf/iCubGenova01/icub.urdf 
[robotStatus::robotConfig] local name:    simulink 
[robotStatus::robotConfig] head version:  2 
[robotStatus::robotConfig] legs version:  2 
[robotStatus::robotConfig] feet version:  1 
[robotStatus::robotConfig] world reference frame: l_sole 
WARNING [robotStatus::robotConfig] Configuring WBI for the real robot. Please check the jointTorqueControl module is up and running.
ERROR [robotStatus::robotConfig] The jointTorqueControl module is not running. Please launch it before running your controller.