From 36366c735d9054b399148cfee57d80c6a1b36f5e Mon Sep 17 00:00:00 2001 From: Gabriele Nava Date: Fri, 8 Feb 2019 10:56:35 +0100 Subject: [PATCH] Update How-to-run-torqueBalancing-simulations-with-iCub.md --- doc/How-to-run-torqueBalancing-simulations-with-iCub.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/doc/How-to-run-torqueBalancing-simulations-with-iCub.md b/doc/How-to-run-torqueBalancing-simulations-with-iCub.md index c40ede9..7025cb6 100644 --- a/doc/How-to-run-torqueBalancing-simulations-with-iCub.md +++ b/doc/How-to-run-torqueBalancing-simulations-with-iCub.md @@ -11,7 +11,7 @@ The procedure to run the torque balancing module is still quite elaborate. Users - Bring the robot in a suitable home position (e.g. `$ yarpmotorgui --from homePoseBalancing.ini` and then select a custom position by clicking on `Global Joints Commands/Custom postions`. -- Launch `wholeBodyDynamics` as follows: `YARP_ROBOT_NAME=icubGazeboSim yarprobotinterface --config launch-wholebodydynamics.xml`. For further details see [here](https://github.com/robotology/codyco-modules/blob/master/doc/force_control_on_icub.md#run-wholebodydynamics-on-an-external-pc). +- For `icubGazeboSim`, launch `wholeBodyDynamics` as follows: `YARP_ROBOT_NAME=icubGazeboSim yarprobotinterface --config launch-wholebodydynamics.xml`. Same holds for `iCubGazeboV2_5` (just change the robot name). For further details see [here](https://github.com/robotology/codyco-modules/blob/master/doc/force_control_on_icub.md#run-wholebodydynamics-on-an-external-pc). - (OPTIONAL) type on a terminal `yarp rpc /wholeBodyDynamics/rpc` and execute the command `resetOffset all 300`. It will reset offsets of fake FT measurements, that might be affected by the results of a previous simulation. Fake FT measurements are used e.g. for defining the threshold for switching from single to double support balancing.