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robotology / gz-sim-yarp-plugins

YARP plugins for Modern Gazebo (gz-sim).
BSD 3-Clause "New" or "Revised" License
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issue with IDLE button in yarpmotorgui #171

Closed LoreMoretti closed 2 months ago

LoreMoretti commented 2 months ago

I am trying the single_pendulum tutorial.

When I run the gz sim model.sdf, the model gets correctly loaded.

Then, I run yarpmotorgui, which succesfully loads the yarpmotorgui, but the defeaul control mode is position and not idle.

After, I started the simulation in gz by clicking the play button.

So then, I clicked on the idle button (the one below home):

Screenshot from 2024-08-01 15-08-41

and I get the correct behaviour in gz (i.e. the pendulum is swinging), though the yarpmotorgui "freezes" as per the video below:

https://github.com/user-attachments/assets/03d9d842-41dd-4372-8fea-05b0c3387506

and I cannot switch anymore control mode.

Moreover, I see the following error being printed multiple times in the terminal:

[ERROR] Error while updating control references
[WARNING] Joint  upper_joint  control mode  1818519910  is currently not implemented

@xela-95 pointed out that, if instead of using the idle button, one selects the idle control mode from the first drop-down menu, everything runs fine.

xela-95 commented 2 months ago

Thanks @LoreMoretti for testing the tutorials of this repo! I will check what is the behavior of the Idle button of the yarpmotorgui and come back to you.

xela-95 commented 2 months ago

By looking at the documentation doc http://wiki.icub.org/wiki/File:ICub_Control_Modes_1_1.pdf (I don't know if there is something more up to date than this 2014 document), in Section 3 it says:

image

image

image

Hence, I think that we missed to implement this safety mechanism, that in gazebo-yarp-plugins is implemented here. Now being addressed in #172

xela-95 commented 2 months ago

Now that #172 is merged we can try to verify if this behavior with yarpmotorgui is solved :)

traversaro commented 2 months ago

(I don't know if there is something more up to date than this 2014 document)

I think there was an attempt in re-organizing the docs in https://github.com/robotology/yarp/issues/1139, but I am not sure what is the status of that, so I guess the PDF is probably the most updated source of info.

LoreMoretti commented 2 months ago

Now that https://github.com/robotology/gz-sim-yarp-plugins/pull/172 is merged we can try to verify if this behavior with yarpmotorgui is solved :)

Seems to be solved:

https://github.com/user-attachments/assets/656dafce-c98a-45fe-97b6-a72b7a7f4531

xela-95 commented 2 months ago

Perfect! We can close this now.