I'm wondering how I can debug my robot/code when the symptom is all links snapping to the origin. There are no error messages printed with --verbose.
I'm not sure whether it's a function of my SDF, or my code controlling it
[Here is the model](https://github.com/PeterMitrano/EKIPS_model/blob/master/model.sdf)
[Here is the code](https://github.com/PeterMitrano/EKIPS_code)
[the motor plugin I'm using is here](https://github.com/PeterMitrano/allwpilib/blob/master/simulation/frc_gazebo_plugins/dc_motor/src/dc_motor.cpp)
Although the code is WPILib code and probably won't make any sense to anyone.
If I just put in the model with no code running, it doesn't explode. I can drop it and move it all around and it works.
It seems to be something with my code or plugins, but I just don't know where to start.
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