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vvv-school / tutorial_impedance-control

Tutorial of an Whole-Body impedance controller using iDynTree and YARP
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iCub falls face down #3

Closed atabakd closed 6 years ago

atabakd commented 6 years ago

I have been trying to get this demo to work again, but I cannot remember which iCub model we were using. It works if I use "iCubGazeboV2_5 fixed" but icub falls on the ground if I use "iCubGazeboV2_5 standing". I am not sure if this was the expected behaviour :thinking: Cheers,

pattacini commented 6 years ago

cc @diegoferigo @traversaro

diegoferigo commented 6 years ago

Usually when if falls down it means that gazebo-yarp-plugins are either missing or not properly loaded / configured.

In the past this happened to me when yarp and gazebo-yarp-plugins were checked out on different branches. Both should be either master or devel.

@atabakd be careful of branches because last week we did a new release of all the software. Be sure all the repositories use master (WB-Toolbox included).

You can get useful information executing gazebo with --verbose.

atabakd commented 6 years ago

Thanks for pointing that out. I'll start recompiling everything :wink:. But I saw this behaviour even on my VM where I did not upgrade/change installations.

atabakd commented 6 years ago

Well, I just checked the app and I saw that gazebo server starts with the parameter icub_simple_fixed_world/icub_simple_fixed.world meaning that probably we use a fixed model of the iCub. It also makes sense because this controller only compensates for the gravity and there is no stabilization of the centre of the mass.