8.5 Troubleshooting

The model is unable to grab a given object

If your are not able to grab an object because it is too "slippery", you will have to increase its coulombFriction value, which can be found in its Physics node.

The model and base tip over when the robot moves

Webots works with a physics simulator, so consider the stability of your base when creating it. To improve the stability of your base, you can either increase its mass value (in the Physics node), add a weight to compensate for the weight of the IPR robot (as in ipr_cube.wbt or ipr_factory.wbt) or change the positions of the legs of the table.

The model crashes when it should not

The crash detection used in the IPR model relies on the crash detection used by the real IPR robot. The sensitivity of the crash detection is given by the parameters crashlimit and crashlimit_linear. If your Webots model crashes too often, please try to change these parameters. For instructions on how to modify these parameters, please refer to the section on the "S command" in the IPR user manual. For more precise information on crash detection, please refer to the corresponding chapter of the IPR user manual.

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