Impossibility of launching the tool

[DanielePucci]

I'm launching the script

example_read_joint.m

and when I run the associated simulink model, I get the following errors

 Invalid setting in 'FrictionIdentification/Joint Accelerations/Constant' for parameter 'Value'

Error evaluating parameter 'Value' in 'FrictionIdentification/Joint Accelerations/Constant'

Undefined function or variable 'ROBOT_DOF'.
Component: Simulink | Category: Block errorOpen

 Invalid setting in 'FrictionIdentification/Joint Angles/Input Param. for forwardKinematics and  computeJacobians ' for parameter 'SampleTime'

Error evaluating parameter 'SampleTime' in 'FrictionIdentification/Joint Angles/Input Param. for forwardKinematics and  computeJacobians '

Undefined function or variable 'Ts'.
Component: Simulink | Category: Block error

 Invalid setting in 'FrictionIdentification/Joint Torques/Constant' for parameter 'Value'

Error evaluating parameter 'Value' in 'FrictionIdentification/Joint Torques/Constant'

Undefined function or variable 'ROBOT_DOF'.
Component: Simulink | Category: Block error

 Invalid setting in 'FrictionIdentification/Joint Velocities/ ' for parameter 'Value'

Error evaluating parameter 'Value' in 'FrictionIdentification/Joint Velocities/ '

Undefined function or variable 'ROBOT_DOF'.
Component: Simulink | Category: Block error

[rbonghi]

The file example_read_joint.m is only to read an old acquisition.

To dump data from robot, you can use dump_single_joint.m .

In line 27, the method called configure build in your workspace the time Ts, ROBOT_DOF and YARP_ROBOT_NAME 265, 266 and 268

%% Configure your computer
% Set all variables:
% - Name of joint list with your list of joints
% - If true, automatic set yarp namespace
robot.configure('JOINT_FRICTION','false');

When you launch the file the constructor Robot. The script find in: codyco_folder\libraries\yarpWholeBodyInterface\app\robots\Name_Robot\yarpWholeBodyInterface.ini and build a list with all joints available in the robot configuration, called robot.joints

When you select the joint or the coupled joint 14 The method find in robot.joints the coupled joint.

%% Add motors to test
% robot.joints = robot.getJoint('r_elbow');
% or you can add a coupled joints
robot.joints = robot.getCoupledJoints('r_shoulder');
% finally you can add all joints with
% robot = robot.addParts('left_leg');