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robotology-playground / WBI-Toolbox

Simulink Toolbox for rapid prototyping of Whole Body Robot Controllers
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torqueBalancingV3- error after update #66

Closed yoshijan closed 9 years ago

yoshijan commented 9 years ago

Hello everyone, i use the WBI - Toolbox with gazebo and icub (current versions, ROBOT_DOF =25). After the latest update i followed the new Readme instructions and got the COMPoseTesting working.

But if i want to run the torqueBalancingV3 controller i got a error message: Error in port widths or dimensions. Output port 1 of 'balancingController_QP_twoFeet/Subsystem/Subsystem1/WBI to yarp3/WBI ordered' is a [1x25] matrix.

see pic below the WBI to yarp3 just uses 23 values?! Any ideas how to solve this issue? Best regards Jan error_v3

francesco-romano commented 9 years ago

The new wholeBodyInterface configuration file by default now uses 23 DOFs as torque controller joints. We removed the wrist prosupination as we did not control it in torque mode. As a solution to your problem either change the ROBOT_DOF variable to be 23, or change the wholeBodyInterface configuration file to include again the whole arm.

Maybe @DanielePucci can give more details about this issue.

jeljaik commented 9 years ago

The main problem here was in the block yarp to WBI which had been wrongly set to 23 instead of ROBOT_DOF. This happened after recent updates in which we have decided to control 23 DOF instead of the previous 25. For this reason the variable ROBOT_DOF in initBalancingController_QP_twoFeet.m must be set to 23. Commit https://github.com/robotology-playground/WBI-Toolbox/commit/9db1ec35c58f4746ecda7d88fdac1132daec8217 fixes this issue. Nevertheless a few more issues arise from the non-scability of the Matlab code of the controller which has a 25-DOF logic. It needs to be updated. You should also know @yoshijan that this controller was never successfully tested on the simulator but on the robot. For this reason, gains and a couple of things will not work out of the box. If you are truly interested in this controller, you're welcome to do all the necessary changes and via a pull request we can review it and integrate in our repo. Otherwise, as soon as we get the chance we'll get back to this controller in more depth.

jeljaik commented 9 years ago

Created issue #67 to track this problem. Closing since the WBI-Toolbox related issue has been solved.

jeljaik commented 9 years ago

Also @yoshijan for future issues, we would like you to try our newly introduced script create_issue.sh https://github.com/robotology-playground/WBI-Toolbox/blob/master/create_issue.sh which you can use to fill in a template issue with automatically filled info that is useful for us in the debugging process.

Thanks!

jeljaik commented 9 years ago

Sorry @yoshijan, we realized there had been a misinterpretation of this issue. I however reverted the conflicting blocks 'yarp to WBI' and 'WBI to yarp' to how they were in the past. Pushed changes in https://github.com/robotology-playground/WBI-Toolbox/commit/9665fbdf997431b741bd757369ef674fc3382cfe and https://github.com/robotology-playground/WBI-Toolbox/commit/70678101b6bc0dc48483d962c337805fbc2ca63a

This should solve this particular issue. Let us know please of further errors.

@DanielePucci can you test this controller (or the newest version you told me about today) on your computer in simulation? At least to make sure it runs.

DanielePucci commented 9 years ago

See https://github.com/robotology-playground/WBI-Toolbox/issues/57#issuecomment-73134333