Movement error when Iaunching tutorial_cartesian_interface on gazebo

[DermyO]

Hello!

when I launch the program tutorial_cartesian_interface on Gazebo, the simulated robot fall down.

Here are some information that could be usefull:

• I've updated my computer to ubuntu 16 and I passed from iCubGazeboSim to icubSim. I think I have misunderstood the transition between icubGazeboSim to icubSim: I am not sure to understand where I have to keep "icubGazeboSim" or where I have to write "icubSim".
• I putted in the bashrc "YARP_ROBOT_NAME=icubGazeboSim" ;
• I tried to launch the program wether with --robot icubSim and robot icubGazeboSim.;
• I use : wholeBodyDynamicsTree --robot icubSim with files in [...]codyco-superbuild/build/install/share/codyco/robots/icubGazeboSim/[...] (Not usefull there but I willl need it after, so I would like to verify if it is ok) yarprobotinterface --context simCartesianControl --robot icubSim with files in [..]/share/iCub/contexts/simCartesianControl/[...] iKinCartesianSolver --robot icubSim --context simCartesianControl --part left_arm with files in [..]/share/iCub/contexts/simCartesianControl/[...] and [...]/codyco-superbuild/build/install/share/codyco/robots/icubGazeboSim[...]

Thank you for your help! @pattacini @arwen-h

[pattacini]

Hi @misaki43

I believe the problem you're experiencing with Gazebo is very much related to https://github.com/robotology/icub-gazebo/issues/38.