Actarray controller problem

[reinzor]

Hi,

I's working on a project with player and gazebo. My Gazebo-models are
already set up and now I want to controll the joints of my models. In my
model, there are 16 joints that I want to move; therefore I would like to
use the generic actuator array controller. When I set-up the controller like
this:

"<controller:generic_actarray name="rod_hinge_controller" n_actors="16">
<joint name="rodred5_hinge">
<torque>200</torque>
<gain>1</gain>
</joint>
...etc
<interface:actarray name="rod_hinge_iface"/>
</controller:generic_actarray>"

The model starts acting really weird and bounces away. Even when I do this
with a single hinge, just a stator and a rotor, the same thing happens. Does
anybody know how I can get this to work or is my approach totally wrong?

Thanks in advance!

Regards,

Rein

- Gazebo 0.10.0
- Player v.3.0.2
- Linux 10.04 LTS

[Rein Appeldoorn]

For some reason, the Gazebo version was the issue. I just installed
0.9 and it works fine.

Regards,

Rein

Post by reinzor
Hi,
I's working on a project with player and gazebo. My Gazebo-models are
already set up and now I want to controll the joints of my models. In my
model, there are 16 joints that I want to move; therefore I would like to
use the generic actuator array controller. When I set-up the
controller like
"<controller:generic_actarray name="rod_hinge_controller"
n_actors="16">
<joint name="rodred5_hinge">
<torque>200</torque>
<gain>1</gain>
</joint>
...etc
<interface:actarray name="rod_hinge_iface"/>
</controller:generic_actarray>"
The model starts acting really weird and bounces away. Even when I do this
with a single hinge, just a stator and a rotor, the same thing
happens. Does
anybody know how I can get this to work or is my approach totally wrong?
Thanks in advance!
Regards,
Rein
- Gazebo 0.10.0
- Player v.3.0.2
- Linux 10.04 LTS
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[John Hsu]

Hi,

have you tried the following for stabilizing physics simulations in general?

- decrease time step size
- decrease gains
- decrease torque

with gain = 0, you should recover the behavior of the model without the
actarray, in theory...

John

Post by reinzor
Hi,
I's working on a project with player and gazebo. My Gazebo-models are
already set up and now I want to controll the joints of my models. In my
model, there are 16 joints that I want to move; therefore I would like to
use the generic actuator array controller. When I set-up the controller like
"<controller:generic_actarray name="rod_hinge_controller" n_actors="16">
<joint name="rodred5_hinge">
<torque>200</torque>
<gain>1</gain>
</joint>
...etc
<interface:actarray name="rod_hinge_iface"/>
</controller:generic_actarray>"
The model starts acting really weird and bounces away. Even when I do this
with a single hinge, just a stator and a rotor, the same thing happens. Does
anybody know how I can get this to work or is my approach totally wrong?
Thanks in advance!
Regards,
Rein
- Gazebo 0.10.0
- Player v.3.0.2
- Linux 10.04 LTS
--
http://old.nabble.com/Actarray-controller-problem-tp31646982p31646982.html
Sent from the playerstage-gazebo mailing list archive at Nabble.com.
------------------------------------------------------------------------------
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authoring tool. Experience the power of Track Changes, Inline Image
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[Rein Appeldoorn]

Hi,

Yes, I tried all of that but nothing fixed the weird behavior. Now, when I'm
on 0.9, it works fine. Perhaps my installation of 0.10 was wrong but the
other elements of gazebo seemed to work fine.

Rein

Post by John Hsu
Hi,
have you tried the following for stabilizing physics simulations in general?
- decrease time step size
- decrease gains
- decrease torque
with gain = 0, you should recover the behavior of the model without the
actarray, in theory...
John

Post by reinzor
Hi,
I's working on a project with player and gazebo. My Gazebo-models are
already set up and now I want to controll the joints of my models. In my
model, there are 16 joints that I want to move; therefore I would like to
use the generic actuator array controller. When I set-up the controller like
"<controller:generic_actarray name="rod_hinge_controller" n_actors="16">
<joint name="rodred5_hinge">
<torque>200</torque>
<gain>1</gain>
</joint>
...etc
<interface:actarray name="rod_hinge_iface"/>
</controller:generic_actarray>"
The model starts acting really weird and bounces away. Even when I do

this

Post by reinzor
with a single hinge, just a stator and a rotor, the same thing happens. Does
anybody know how I can get this to work or is my approach totally wrong?
Thanks in advance!
Regards,
Rein
- Gazebo 0.10.0
- Player v.3.0.2
- Linux 10.04 LTS
--

http://old.nabble.com/Actarray-controller-problem-tp31646982p31646982.html

Post by reinzor
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Post by reinzor
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--
John Hsu, Ph.D.
Senior Research Engineer
Willow Garage Inc.
[phone]
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