Closed DanielePucci closed 5 months ago
Hi @DanielePucci 👋🏻
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Hi @DanielePucci,
The Parser
seems to parse correctly the values set in config files:
...
(stictionUp 0 0 0) (stictionDown 0 0 0) (kff 1 1 1) (viscousPos 0 0 0) (viscousNeg 0 0 0) (coulombPos 0 0 0) (coulombNeg 0 0 0) (velocityThres 0.1 0.1 0.1) (filterType 0 0 0) (ktau 176 176 -176)"), ("OTHER_CONTROL_PARAMETERS" [group] = "(deadZone 0.0049 0.0049 0.0049)")]
...
I'm not sure, but as a first quick view to the info provided, it could be a (wrong) cast from float to int that trunkates the 0.1 to 0. By the way, we'll perform some tests in during our next sprint (starting from Monday 22).
cc @Nicogene
Hi @sgiraz, thanks for the hint. We tried to set all parameters as integers, but it does not seem to solve the issue
Here's the log log_ergocub-torso_yarprobotinterface_18098.txt
Hi @DanielePucci,
I fixed a bug in icub-main
that was preventing the parsing of torque parameters when the (⚠️ deprecated) kbemf
parameter was missing. Here's the PR that addresses the issue:
cc @isorrentino @GiulioRomualdi @AntonioConsilvio
Thanks a lot @sgiraz, hopefully tomorrow we are going to give it a try!
Today, @DanielePucci and I tested the PR. Now everything works fine. Thanks a lot.
Hi @isorrentino, @DanielePucci
Thank you for your precious feedback.
I proceed closing this issue! ✅
Cc @Nicogene @AntonioConsilvio
Robot Name 🤖
ergoCub 1.1 S/N:001
Request/Failure description
Today, we started with @isorrentino to work to test the Yoga demo on the real robot after the preliminary results in https://github.com/ami-iit/element_qp-reactive-control/issues/70.
So, we started modifying the files for loading the parameters of torque control. See the commit https://github.com/ami-iit/robots-configuration/commit/f6fe83cf51cf5e385477fbe4fdc2bd043313191e
Unfortunately, these parameters seem not loaded in the motor gui
And we cannot at the moment test the torque control since adding them manually for all the joints is a very long process
Detailed context
This is the output of yarprobotinterface output_interface.txt
@Nicogene @sgiraz @maggia80
Additional context
No response
How does it affect you?
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