Open GiulioRomualdi opened 3 years ago
I think you can increase the max_torques
parameter in the conf file, see https://github.com/robotology/gazebo-yarp-plugins/blob/52491d69365a32ad930f2b858b9f3a43e7596510/plugins/controlboard/src/ControlBoardDriver.cpp#L1322 .
I am also open to increase the default, remove the default (i.e. requiring the parameter to be set in the .ini conf file) or do whatever it make sense to do.
If I decrease the max step size in Gazebo from 0.001 to 0.0001 torso and shoulder often go in hardware fault.
By the way, it would be interesting to understand why this happens, by decreasing the timestamp the numerical errors should decrease.
Another possibility is to add a flag to disable the check.
If I decrease the
max step size
in Gazebo from0.001
to0.0001
torso and shoulder often go in hardware fault. As far as I understood the hardware fault is manually set if https://github.com/robotology/gazebo-yarp-plugins/blob/52491d69365a32ad930f2b858b9f3a43e7596510/plugins/controlboard/src/ControlBoardDriver.cpp#L568-L575I completely understand that this is done to emulate the real robot model but it would be nice if this check can be easily disabled from the configuration file. It will help a lot while running simulations
cc @prashanthr05 @traversaro and @S-Dafarra