Maximum joints effort are not correct

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Original report (archived issue) by nima shafii (Bitbucket: nima_sh).

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I think that the maximum allowed joint effort are too low to keep the robot upright. In my tests by using many different controller I could not keep the robot upright. This value can be found in sdf file and example of that is given in the following lines:

#!xml
   <joint name='LHipPitch' type='revolute'>
      <axis>
        <limit>
          <effort>3.2</effort>
        </limit>

The more correct value can be approximated based on the information can be found in table 4 of this Article .

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Original comment by nima shafii (Bitbucket: nima_sh).

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• changed title from "Allowed Maximum joints forcess are not correct" to "Allowed Maximum joints force are not correct"

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Original comment by nima shafii (Bitbucket: nima_sh).

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• Edited issue description* changed title from "Allowed Maximum joints force are not correct" to "Maximum joints effort are not correct"

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Original comment by nima shafii (Bitbucket: nima_sh).

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In rev 6babe88d429ed1229bced6acfcfe812b4af1fb7c, I increased the effort values by approximating it using the joint torque reported in the article and also tune it by try and error.

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Original comment by jasonzliang NA (Bitbucket: jasonzliang).

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It seems like table 4 tells us what the limits of the joints are, but it does not say what is the maximum torque that can be exerted on the joints.

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Original comment by nima shafii (Bitbucket: nima_sh).

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Yes, Table 5 :)

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Original comment by Carlos Agüero (Bitbucket: caguero, GitHub: caguero).

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• changed state from "new" to "resolved"

I think that the gains were already updated. Reopen if it's not the case.