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Bug/fix example #8

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Merged
pzhu-flexiv merged 4 commits into from
Dec 20, 2025
Merged

Bug/fix example #8

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f39c53d
Fix mock_external_simulator.cpp
pzhu-flexiv Dec 19, 2025
f4e1fd8
Update version of spdlog to be the same as the apt installed version …
pzhu-flexiv Dec 19, 2025
143c85d
Update version of tinyxml2 to be the same as the apt installed versio…
pzhu-flexiv Dec 19, 2025
f71a569
Revert dependency version update
pzhu-flexiv Dec 19, 2025
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5 changes: 5 additions & 0 deletions example/mock_external_simulator.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -29,6 +29,9 @@ constexpr double kSineFreq = 0.3;
// Initial joint positions when the robot is at home posture [rad]
const std::vector<float> kInitQ = {0.0, -0.698132, 0.0, 1.5708, 0.0, 0.698132, 0.0};

// Joint degrees of freedom
constexpr size_t kJointDof = 7;

// Servo cycle of the physics loop
unsigned int g_servo_cycle = 0;
}
Expand All @@ -54,6 +57,8 @@ void StepPhysics(sim_plugin::UserNode& user_node)
// =============================================================================================
// Mocked robot states
sim_plugin::SimRobotStates robot_states;
robot_states.q.resize(kJointDof);
robot_states.dq.resize(kJointDof);

// Set and increment servo cycle per physics step
robot_states.servo_cycle = g_servo_cycle++;
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