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robotology-playground / WBI-Toolbox

Simulink Toolbox for rapid prototyping of Whole Body Robot Controllers
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how to change icub_fixed variable? #72

Closed azadm closed 9 years ago

azadm commented 9 years ago

How do we change the icub_fixed variable in the new version?

jeljaik commented 9 years ago

Hi @azadm In the new version, a configuration file for the WBI-Toolbox has been created as it can be seen in: https://github.com/robotology-playground/WBI-Toolbox/blob/master/libraries/wbInterface/conf/wholeBodyInterfaceToolbox/wholeBodyInterfaceToolbox.ini

This is the default configuration file of the Toolbox. In the previous version of the Toolbox (v0.1) these options were mixed in the robot-specific configuration files installed with yarpWholeBodyInterface. Since they're unrelated, we decided to create an independent configuration file for the Toolbox. This file is then installed as:

$CODYCO_SUPERBUILD_DIR/install/share/codyco/contexts/wholeBodyInterfaceToolbox/wholeBodyInterfaceToolbox.ini

which by default contains:

robot          icubGazeboSim
localName      simulink
worldRefFrame  l_sole
robot_fixed    true
wbi_id_list    ROBOT_TORQUE_CONTROL_JOINTS
wbi_config_file yarpWholeBodyInterface.ini

You should change the default options in the installed file and not the source one.

DanielePucci commented 9 years ago

Hi Morteza, in the file wholeBodyInterfaceToolbox.ini you can find the option

robot_fixed     true

This file is in the following directory codyco-superbuild/build/install/share/codyco/contexts/wholeBodyInterfaceToolbox/wholeBodyInterfaceToolbox.ini

Beware that if you change the installed file, any time you do 

make

in the build directory of the superbuild, the file is going to be overwritten.

azadm commented 9 years ago

Thanks @jeljaik and @DanielePucci The thing is that I want to have icub (feet fixed) with 25 DoF instead of the default icub (fixed) with 10 DoF. Is there anything else that I should change? Because after changing robot_fixed to false in the file that you mentioned, I still get an error in Matlab if I define ROBOT_DOF = 25; and it works with ROBOT_DOF = 10; no matter which model I put in Gazebo.

jeljaik commented 9 years ago

@azadm Can you please run the script create_issue.sh in the root directory of the WBI-Toollbox from terminal and fill the issue with the description of the problem? I'm gonna close this for now since the question has been answered. For the other problem you have please fill the template issue.

More information about the new way to write your issues and better contribute to this project can be found in: https://github.com/robotology-playground/WBI-Toolbox-controllers