Some joints go in HF if the max step size is decreased in Gazebo

[GiulioRomualdi]

If I decrease the max step size in Gazebo from 0.001 to 0.0001 torso and shoulder often go in hardware fault. As far as I understood the hardware fault is manually set if

gazebo-yarp-plugins/plugins/controlboard/src/ControlBoardDriver.cpp

Lines 568 to 575 in 52491d6

	// check measured torque for hw fault
	for (size_t jnt_cnt = 0; jnt_cnt < m_jointPointers.size(); jnt_cnt++) {
	if (m_controlMode[jnt_cnt]!=VOCAB_CM_HW_FAULT && fabs(m_torques[jnt_cnt])>m_maxTorques[jnt_cnt])
	{
	m_controlMode[jnt_cnt]=VOCAB_CM_HW_FAULT;
	yError() << "An hardware fault occurred on joint "<< jnt_cnt << " torque too big! ( " << m_torques[jnt_cnt] << " )";
	}
	}

I completely understand that this is done to emulate the real robot model but it would be nice if this check can be easily disabled from the configuration file. It will help a lot while running simulations

cc @prashanthr05 @traversaro and @S-Dafarra

[traversaro]

I think you can increase the max_torques parameter in the conf file, see

gazebo-yarp-plugins/plugins/controlboard/src/ControlBoardDriver.cpp

Line 1322 in 52491d6

if (kin_chain_bot.check("max_torques")) {

.

[traversaro]

I am also open to increase the default, remove the default (i.e. requiring the parameter to be set in the .ini conf file) or do whatever it make sense to do.

[traversaro]

If I decrease the max step size in Gazebo from 0.001 to 0.0001 torso and shoulder often go in hardware fault.

By the way, it would be interesting to understand why this happens, by decreasing the timestamp the numerical errors should decrease.

[GiulioRomualdi]

Another possibility is to add a flag to disable the check.