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robotology / icub-models

Official URDF and SDF models of the iCub humanoid robot.
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new pid vals for torso in walking simulations #126

Closed mebbaid closed 2 years ago

mebbaid commented 2 years ago

With reference to this issue concerning a long stable walking for iCubV3 in Gazebo, and after some trial and error, we have these values for the pidparams.

Also see this comment and corresponding PR.

With these values, the walking in simulation seems stable as suggested by this video

https://user-images.githubusercontent.com/36491318/153611904-bf032f3c-d5e1-448d-b308-7a63559ca0b3.MP4

and also the torso controlled in position in isolation seems to work fine (so no side effect) as suggested by this video

https://user-images.githubusercontent.com/36491318/153612063-983e3c8c-0e3f-419b-bc94-98014e6979ca.mp4

In case, these modifications as I understood only concern controlling the robot in simulation, and since HSP are trying to use the walking-controllers to test their navigation strategies, I opened this pr.

traversaro commented 2 years ago

Hi @mebbaid, those files are automatically copied from https://github.com/robotology/icub-models-generator/blob/master/simmechanics/data/icub3/conf/gazebo_icub_torso.ini, so feel free to do your modifications there and will be automatically copied here.

mebbaid commented 2 years ago

Ok, thanks for the heads up. I think we can close this then.