Comments (4)
@fiorisi I have just tried. The results is the same of before: the switched joint goes in hardware fault.
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With PR robotology/icub-models-generator#138, we switched the velocity control mode to actually send a velocity to a low-level integrator, whose output is then send to the usual position control. For this reason, I think that this issue is now solved, and it can be closed. Feel free to reopen if a similar error is still present.
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Great @GiulioRomualdi . You can open a PR against the configuration file that are stored in icub-model-generator, see : https://github.com/robotology-playground/icub-model-generator/tree/master/simmechanics/data/icub2_5/conf .
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With @gabrielenava we noticed that in the new gif
the arm of the robot is slowly moving down. this is probably due to the fact that the Kp gain is low. Did you try to reduce the time step of the Gazebo simulation with the Old
gains?
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Related Issues (20)
- Cannot find all robot models after #186 HOT 2
- iCub 2.x - The order of torso joints is wrong in latest devel HOT 4
- Webhook trigger for blender-robotics-utils repository failed HOT 1
- Right camera port does not open on iCubGazeboV2_5_visuomanip model HOT 6
- Disalignment between iCub 2.* models (such as iCubGazeboV2_5) and real iCub 2.* models regarding analogServer devices publishing information on /icub/<...>/analog:o ports HOT 10
- Triangles 43 and 46 of lower right leg skin swapped
- iCubGazeboV3 model feet contacts are unstable in Gazebo v11.13 HOT 6
- Name of joint "*_hand_finger" differ between simulation and the real robot iCubGazeboV2_5_visuomanip HOT 1
- Find a way to pass options to configuration files without modifying configuration files HOT 2
- Simulated finger hall effect sensors for iCubGazeboV2_5_visuomanip have wrong port names HOT 1
- Windows CI Failure End of October 2023
- iCub 2.7 models do not have the xsens IMU
- Cannot reset the robot in simulation when using DART
- Warning when loading the model in urdfdom-py
- MATLAB's analyticalInverseKinematics - Problems with iCubGazeboV2_6 URDF HOT 15
- Add models for all iCub supported in robots-configuration (i.e. not in icebox) as of January 2024 HOT 1
- [iCubGenova11] Remove FT sensors in the legs
- iCub >= V2.6 urdfs have the imu frame oriented as the V2.5 HOT 6
- iCub >= V2.6: investigate orientation of the head imu frame HOT 19
- Migrate simulated MAIS interfaces to use MultipleAnalogSensors interfaces HOT 1
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