bug when parsing the mask of WBT Configuration block #237
Description
- I already updated to the latest version I can use
- I already checked similar issues using the search box
- I already checked the website for known troubleshooting
- I already cleaned my environment (by removing the wb-toolbox install folder and installing it again)
- I am sure the environment variables are correct
Description
It seems it is not possible to define the block parameters through the option Configuration from: Mask.
Platform
Simulation with Matlab/Simulink 2022b on Linux 22.04
Reproducibility
Just use any model which contains the WBT Configuration block, and in the block mask from the drop-down menu choose Mask instead of Workspace, and then fill in all the edit boxes of the Data tab.
For example, let's assume that your object WBToolbox.Configuration is contained in the field of a structure like configSimulation.WBTConfigRobotSim, you will then have to fill the Data tab as follows
| edit box | value |
|---|---|
| Robot Name | configSimulation.WBTConfigRobotSim.RobotName |
| Urdf File | configSimulation.WBTConfigRobotSim.UrdfFile |
| Controlled Joints | configSimulation.WBTConfigRobotSim.ControlledJoints |
| Control Boards Names | configSimulation.WBTConfigRobotSim.ControlBoardsNames |
| Local Name | configSimulation.WBTConfigRobotSim.LocalName |
| Gravity Vector | configSimulation.WBTConfigRobotSim.GravityVector |
If you then run the Simulink model you should see an error ( as the one reported in Additional context).
If instead, the option from Workspace, passing for example configSimulation.WBTConfigRobotSim (which stores the WBToolbox.Configuration object), the simulation runs just fine.
Screenshots
Additional information
- OS: [e.g. Ubuntu 22.04]
- Matlab Version: [e.g.
2022b]
Additional context
Here the error message:
Error reported by S-function 'BlockFactory' in '[simulation_with_PID_control/Simulator/EstimateContactForcesKynematicsForwardDynamics/RobotDynWithContacts_ClosedChain/simulinkFunction_dyn_worldTransform_inContactFrames/First ForwardKinematics/S-Function](matlab:open_and_hilite_hyperlink ('simulation_with_PID_control/Simulator/EstimateContactForcesKynematicsForwardDynamics/RobotDynWithContacts_ClosedChain/simulinkFunction_dyn_worldTransform_inContactFrames/First ForwardKinematics/S-Function','error'))':
ResourceFinder couldn't find urdf file configSimulation.WBTConfigRobotSim.UrdfFile.
Failed to initialize the KinDynComputations object.
Cannot retrieve handle to KinDynComputations.