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robotology / gazebo-fmi

FMI import plugins for the Gazebo Simulator.
GNU Lesser General Public License v3.0
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[actuator] Handle effortLimit #30

Open traversaro opened 5 years ago

traversaro commented 5 years ago

In the actuator plugin, the input to the actuator is actually passed to the FMI plugin through the Joint::SetForce method. This method limits the input using the effortLimit attribute of the class, that is parsed from SDF. This make sense (even if it is not 100% correct) if the input to the actuator and the output have similar units (such when simulating just a SEA), but is guaranteed to fail if the input to the actuator has a differ order of magnitude (such if it represents an integer from 0 to 32000) this is completely wrong. We should handle that.

traversaro commented 5 years ago

cc @prashanthr05 @triccyx

traversaro commented 5 years ago

Initial fix in https://github.com/robotology/gazebo-fmi/pull/39 . It would make sense to also have another option to translate the check on the output of the transmission, but this can be done in another PR.