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robotology / gazebo-yarp-plugins

Plugins to interface Gazebo with YARP.
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Some joints go in HF if the max step size is decreased in Gazebo #522

Open GiulioRomualdi opened 3 years ago

GiulioRomualdi commented 3 years ago

If I decrease the max step size in Gazebo from 0.001 to 0.0001 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-L575

I 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

traversaro commented 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 .

traversaro commented 3 years ago

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.

traversaro commented 3 years ago

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.

GiulioRomualdi commented 3 years ago

Another possibility is to add a flag to disable the check.