Gravity and friction for the simulated iCub robot.

[hixboty]

Hi, i want to test some walking patterns inside the simulator and even if i move the limbs in a very unnatural position, iCub is still standing instead of falling. I know there is a simple way of creating a ball that is affected by gravity inside the simulator... but can i turn on the effect of gravity for the simulated iCub robot? I know that the limbs have mass so i guess that the effect of gravity is turned off for it.

Is there currently a way of achieving this inside the simulator?

Thank you,
Cristian

[pattacini]

Try to disable the parameter fixed_hip contained in the iCub_parts_activation.ini file - the one actually used by the simulator. To know which file is the one, do launch yarp resource --context simConfig --find iCub_parts_activation.ini.

[hixboty]

It works like a charm. The robot simulation experiences gravity and friction by disabling the fixed_hip parameter, and as a bonus.. if it falls too hard it will break into pieces :) The simulator crashes when the robot breaks but i'll see what i can do. Maybe i'll make it start from a "lay down on its back" position. Thank you very much :)