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robotology / wb-toolbox

Simulink toolbox to rapidly prototype robot controllers
https://robotology.github.io/wb-toolbox/
GNU Lesser General Public License v2.1
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Properly (and consistently) format the input, output and names in blocks #16

Open francesco-romano opened 8 years ago

francesco-romano commented 8 years ago

e.g. Base Pose => w^H_b

francesco-romano commented 8 years ago

@traversaro with the reactions to comments, GitHub is now really the Facebook of developers [cit.] :smile:

MichaelBombile commented 7 years ago

Hi , @francesco-romano @gabrielenava we are trying to implement a reactive walking controller on iCub2 at EPFL LASA, and to do so we are trying to combine it with the matlab torqueBalancing module by exploiting the ComDes:i and the qDes:i input ports. However in our implementation we tried to add an inverse Kinematics box from the WBT_toolbox in order to compute the qDes and it keeps on giving the following error msg: Error:Error reported by S-function 'WBToolbox' in 'torqueBalancingAndWalking/Inverse Kinematics1/S-Function':

[mdlStart] Cannot retrieve string from robot part parameter.

Here are the configuration parameters during the compilation:

[INFO][robotStatus::robotConfig] Configuring... [INFO][robotStatus::robotConfig] wbiConfFileFullPath is: /home/michael/icub/codyco-superbuild/build/install/share/codyco/robots/icubGazeboSim/yarpWholeBodyInterface.ini [INFO][robotStatus::robotConfig] List of properties for yarpWholeBodyInterface was interpreted correctly [INFO][robotStatus::robotConfig] robot_fixed is false! [DEBUG][robotStatus::robotConfig] After reading from config file, params are [DEBUG][robotStatus::robotConfig] robot name: icubGazeboSim [DEBUG][robotStatus::robotConfig] local name: matlabTorqueBalancing [DEBUG][robotStatus::robotConfig] world reference frame: l_sole [DEBUG][robotStatus::robotConfig] WBI ID List: ROBOT_TORQUE_CONTROL_JOINTS_WITHOUT_PRONOSUP

Please, can anyone tell us what is wrong and how we can fix it?

Thanks in advance.

francesco-romano commented 7 years ago

Hi @MichaelBombile Can you check now?

BTW: please don't post in unrelated issues, please open new issues! Also, avoid to spam your requests in all the robotology repositories.

Last thing: from your output I think you have also the old toolbox installed. I don't know what may happen if both are present.

MichaelBombile commented 7 years ago

Hi @francesco-romano, Thanks for your response.
In fact, I installed the toolbox through the codyco-superbuild. I will update it, test it and I will let you know.