Increase iCubGazeboV3 damping and PIDs (#199)

robotology · Mar 26, 2021 · 921c4cb · 921c4cb
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commit 921c4cb
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Showing 16 changed files with 48 additions and 4,489 deletions.
diff --git a/simmechanics/data/icub3/ICUB3_L_LEG_SIM_MODEL.xml b/simmechanics/data/icub3/ICUB3_L_LEG_SIM_MODEL.xml
diff --git a/simmechanics/data/icub3/ICUB3_R_LEG_SIM_MODEL.xml b/simmechanics/data/icub3/ICUB3_R_LEG_SIM_MODEL.xml
diff --git a/simmechanics/data/icub3/ICUB3_UPPERBODY_SIM_MODEL.xml b/simmechanics/data/icub3/ICUB3_UPPERBODY_SIM_MODEL.xml
diff --git a/simmechanics/data/icub3/ICUB_3_head_options.yaml b/simmechanics/data/icub3/ICUB_3_head_options.yaml
diff --git a/simmechanics/data/icub3/ICUB_3_joint_all_parameters.csv b/simmechanics/data/icub3/ICUB_3_joint_all_parameters.csv
@@ -1,33 +1,33 @@
 joint_name,lower_limit,upper_limit,damping,friction,velocity_limit,effort_limit
-torso_yaw,-43,43,0.06,0,120,
-torso_pitch,-18,45,0.06,0,120,
-torso_roll,-23,23,0.06,0,120,
-r_shoulder_pitch,-88,13,0.06,0,120,
-r_shoulder_roll,12,160,0.06,0,120,
-r_shoulder_yaw,-50,80,0.06,0,120,
-l_shoulder_pitch,-88,13,0.06,0,120,
-l_shoulder_roll,12,160,0.06,0,120,
-l_shoulder_yaw,-50,80,0.06,0,120,
-l_hip_pitch,-45,115,0.06,0,120,
-l_hip_roll,-10,115,0.06,0,120,
-l_hip_yaw,-80,80,0.06,0,120,
-l_knee,-70,5,0.06,0,120,
-l_ankle_pitch,-45,45,0.06,0,120,
-l_ankle_roll,-25,25,0.06,0,120,
-r_hip_pitch,-45,115,0.06,0,120,
-r_hip_roll,-10,115,0.06,0,120,
-r_hip_yaw,-80,80,0.06,0,120,
-r_knee,-70,5,0.06,0,120,
-r_ankle_pitch,-45,45,0.06,0,120,
-r_ankle_roll,-25,25,0.06,0,120,
-neck_pitch,-30,22,0.06,0,120,
-neck_roll,-20,20,0.06,0,120,
-neck_yaw,-45,45,0.06,0,120,
-l_elbow,-3,75,0.06,0,120,
-l_wrist_prosup,-88,88,0.06,0,120,
-l_wrist_pitch,-70,25,0.06,0,120,
-l_wrist_yaw,-15,35,0.06,0,120,
-r_elbow,-3,75,0.06,0,120,
-r_wrist_prosup,-88,88,0.06,0,120,
-r_wrist_pitch,-70,25,0.06,0,120,
-r_writst_yaw,-15,35,0.06,0,120,
+torso_yaw,-43,43,2,0,120,
+torso_pitch,-18,45,2,0,120,
+torso_roll,-23,23,2,0,120,
+r_shoulder_pitch,-88,13,2,0,120,
+r_shoulder_roll,12,160,2,0,120,
+r_shoulder_yaw,-50,80,2,0,120,
+l_shoulder_pitch,-88,13,2,0,120,
+l_shoulder_roll,12,160,2,0,120,
+l_shoulder_yaw,-50,80,2,0,120,
+l_hip_pitch,-45,115,2,0,120,
+l_hip_roll,-10,115,2,0,120,
+l_hip_yaw,-80,80,2,0,120,
+l_knee,-70,5,2,0,120,
+l_ankle_pitch,-45,45,2,0,120,
+l_ankle_roll,-25,25,2,0,120,
+r_hip_pitch,-45,115,2,0,120,
+r_hip_roll,-10,115,2,0,120,
+r_hip_yaw,-80,80,2,0,120,
+r_knee,-70,5,2,0,120,
+r_ankle_pitch,-45,45,2,0,120,
+r_ankle_roll,-25,25,2,0,120,
+neck_pitch,-30,22,2,0,120,
+neck_roll,-20,20,2,0,120,
+neck_yaw,-45,45,2,0,120,
+l_elbow,-3,75,2,0,120,
+l_wrist_prosup,-88,88,2,0,120,
+l_wrist_pitch,-70,25,2,0,120,
+l_wrist_yaw,-15,35,2,0,120,
+r_elbow,-3,75,2,0,120,
+r_wrist_prosup,-88,88,2,0,120,
+r_wrist_pitch,-70,25,2,0,120,
+r_writst_yaw,-15,35,2,0,120,
diff --git a/simmechanics/data/icub3/ICUB_3_joint_head_parameters.csv b/simmechanics/data/icub3/ICUB_3_joint_head_parameters.csv
diff --git a/simmechanics/data/icub3/ICUB_3_joint_leftleg_parameters.csv b/simmechanics/data/icub3/ICUB_3_joint_leftleg_parameters.csv
diff --git a/simmechanics/data/icub3/ICUB_3_joint_rightleg_parameters.csv b/simmechanics/data/icub3/ICUB_3_joint_rightleg_parameters.csv
diff --git a/simmechanics/data/icub3/ICUB_3_joint_upperbody_parameters.csv b/simmechanics/data/icub3/ICUB_3_joint_upperbody_parameters.csv
diff --git a/simmechanics/data/icub3/ICUB_3_leftleg_options.yaml b/simmechanics/data/icub3/ICUB_3_leftleg_options.yaml