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2015-03-04 14:16:14 -0600 commented answer Error creating a world for a biped robot

The problem is that I am doing my project settings based on drcsim atlas, just when I take this plugin of my world file my robot is not loaded into the simulator. When the plugin is inserted into the world file my robot is loaded, but then it falls to the ground.

2015-03-04 08:14:09 -0600 asked a question Error creating a world for a biped robot

I am trying to create a new world with my biped robot on the drcsim. Initially I want to keep my robot standing.

I have a robotic model modeled on URDF format. The model consists of only two hips connected by a chair and two legs, having active joints in the hips and knees. The joints of the ankles are passive. I want to create a controller that gives the joints a inital torque to keep the robot standing. I have been based on the atlas and drcsim package for my the .worlds .yaml .launch files.

My model: C:\fakepath\biprob.urdf.xacro.sdf C:\fakepath\biprob.gazebo.sdf

My launch files biprob.launch C:\fakepath\biprob.launch

biprobnocontrollers.launch C:\fakepath\biprobnocontrollers.launch

controllermanager.launch C:\fakepath\controllermanager.launch

My yaml file

C:\fakepath\leg_controllers.yaml

My world file

C:\fakepath\biprob.world

When I launch the biprob.launch have the following errors:

I think the fact that I'm using the plugin "libVRCPlugin.so" it is always waiting for the atlas "waiting for atlas robot to be spawned".

image description

"gazeboroscontrol plugin is waiting for model URDF in parameter [/robotdescription] on the ROS param server". and "No type element found for transmission righttran1"

image description

2015-03-04 05:40:44 -0600 commented question Error in Creating a new world similar to the atlas_utils pkg to make a robot stand up

The problem I do not know if my robot will stand and walk without this plugin, because I am new in the Gazebo and ROS and I'm not sure how to set up my world and my robot to stands on the floor. When I take plugin "<plugin filename =" libVRCPlugin.so "name =" vrcplugin ">        <drcfire_hose> "My robot is not loaded.

2015-03-03 08:24:35 -0600 commented question Error in Creating a new world similar to the atlas_utils pkg to make a robot stand up

I'm with a similar problem, follow this tutorial for installing drcsim(http://gazebosim.org/tutorials?tut=drcsiminstall&cat=drcsim), but I have this problem: VRCPlugin: firehosemodel [firehose] not found, threading disabled. I'm trying to build my biped

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2015-02-26 12:34:58 -0600 commented question Problems with support standing biped robot

Thanks! on biprob.gazebo I have the plugin gazeboroscontrol and on the biprobcontrol I have the node controllerspawner. I can see in the terminal that controls are loaded, but still the robot goes down to start the Gazebo.

2015-02-25 06:01:42 -0600 commented question Problems with support standing biped robot

The configuration of my controllers I think are working properly. However when starting the Gazebo the robot still goes to the ground, but the joint controllers continue moving, I'm not sure why this because I do not have a concrete basis for my damping values in my model and values pid in controllers. Is there any tutorial to calculate these values, if that really is my problem? My Project https://www.dropbox.com/sh/j7xggqvl649nlsy/AACmHq2d_BwdmqdDtRXEomCea?dl=0

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2015-02-21 07:17:52 -0600 asked a question Problems with support standing biped robot

I have a robotic model modeled on URDF format. The model consists of only two hips connected by a chair and two legs, having active joints in the hips and knees. The joints of the ankles are passive. So far I finished this tutorial Gazebo http://gazebosim.org/tutorials/?tut=ros_comm. For now there are no errors with the XML description of the model. However, I have some questions. How can I to set the joints (hips and knees) of my biped to a pose when starting the Gazebo and this stand up, because when you start Gazebo he goes to the floor.

I already set values for the "effort" "friction" "damping" but that still did not work. In addition to already have defined a yaml controller for the joints of the hip and knees according with this tutorial http://gazebosim.org/tutorials/?=tut=ros_control.

I thank any help.

Here's informations when I launch my biprob.world and biprob_control: image description image description image description

Here are my model, world and controller

C:\fakepath\biprob.world C:\fakepath\biprob.gazebo.sdf C:\fakepath\biprob.urdf.xacro.sdf C:\fakepath\biprob_controller.yaml C:\fakepath\biprob.world

and my full project https://www.dropbox.com/sh/j7xggqvl649nlsy/AACmHq2d_BwdmqdDtRXEomCea?dl=0