Increase the damping of iCubGazebov3 and the PID gains

[S-Dafarra]

The damping is currently set ot 0.06 for all the joints. This value is very small, also considering the real robot. After some tests, 2.0 seems a more reasonable value.

Regarding the PID, I used the following values P 40.0 I 0.35 D 0.35 on all the joints, and seemed to be working fine, at least for
the walking.

I can also prepare a PR if you point me to the correct files to modify.

cc @Nicogene @traversaro

[Nicogene]

Hi @S-Dafarra !

The damping can be specified in the csv (e.g. https://github.com/robotology/icub-models-generator/blob/master/simmechanics/data/icub3/ICUB_3_joint_all_parameters.csv)
And the PID can be changed in all the control board ini files (see

icub-models-generator/simmechanics/data/icub3/conf/gazebo_icub_torso.ini

Lines 40 to 42 in 20a9bbc

	kp 1.745 5.745 15.745
	kd 0.174 0.174 0.174
	ki 0.174 4.174 3.174

for example)

A PR is more than welcome, just remember to change all the csv files here https://github.com/robotology/icub-models-generator/tree/master/simmechanics/data/icub3, for now we are using the one with all the joints in one, but in the future we would follow the modular approach

[traversaro]

A PR is more than welcome, just remember to change all the csv files here https://github.com/robotology/icub-models-generator/tree/master/simmechanics/data/icub3, for now we are using the one with all the joints in one, but in the future we would follow the modular approach

Can't we just delete the redundant one, and once we want to go for the modular approach we take the all joint one and decompose it in the separate one? Trying to maintain two different "non"-single sources of true it tricky.

[Nicogene]

Can't we just delete the redundant one, and once we want to go for the modular approach we take the all joint one and decompose it in the separate one? Trying to maintain two different "non"-single sources of true it tricky.

I am afraid that it is not yet possible because the csv it taken by the simmechanics-to-urdf script with the simmechanics XML and for now we have not all the modular simmechanics XMLs and we do not know how to assemble the resulting urdfs.

Or it is possible to pass to the script more than one csv??

[traversaro]

Can't we just delete the redundant one, and once we want to go for the modular approach we take the all joint one and decompose it in the separate one? Trying to maintain two different "non"-single sources of true it tricky.

I am afraid that it is not yet possible because the csv it taken by the simmechanics-to-urdf script with the simmechanics XML and for now we have not all the modular simmechanics XMLs and we do not know how to assemble the resulting urdfs.

Or it is possible to pass to the script more than one csv??

Sorry, I meant to delete the modular one, as those are the one that are the moment are not used. In any case, this is not a big priority.

[Nicogene]

Sorry, I meant to delete the modular one, as those are the one that are the moment are not used. In any case, this is not a big priority.

Yeah we can restore them later if necessary

[S-Dafarra]

So the final verdict? I can remove them if you want, less files to edit 😁

[traversaro]

So the final verdict? I can remove them if you want, less files to edit 😁

Let's remove them!

[traversaro]

Because it seems that ICUB3_L_LEG_SIM_MODEL.xml, ICUB3_R_LEG_SIM_MODEL.xml and ICUB3_UPPERBODY_SIM_MODEL.xml are already lagging behind w.r.t. to ICUB3_ALL_SIM_MODEL.xml, so better to remove them before creating more confusion.

[S-Dafarra]

I have noticed those files are reference here:

icub-models-generator/simmechanics/data/icub3/convertModel.sh

Lines 1 to 12 in 20a9bbc

	simmechanics_to_urdf ICUB3_UPPERBODY_SIM_MODEL.xml --csv ICUB_3_joint_upperbody_parameters.csv --yaml ICUB_3_upperbody_options.yaml --outputfile model.urdf
	gz sdf -p model.urdf > iCub3Upperbody.sdf
	simmechanics_to_urdf ICUB3_L_LEG_SIM_MODEL.xml --csv ICUB_3_joint_leftleg_parameters.csv --yaml ICUB_3_leftleg_options.yaml --outputfile model.urdf
	gz sdf -p model.urdf > iCub3LeftLeg.sdf
	simmechanics_to_urdf ICUB3_R_LEG_SIM_MODEL.xml --csv ICUB_3_joint_rightleg_parameters.csv --yaml ICUB_3_rightleg_options.yaml --outputfile model.urdf
	gz sdf -p model.urdf > iCub3RightLeg.sdf
	# simmechanics_to_urdf ICUB3_HEAD_SIM_MODEL.xml --csv ICUB_3_joint_head_parameters.csv --yaml ICUB_3_head_options.yaml --outputfile model.urdf
	# gz sdf -p model.urdf > iCub3RightLeg.sdf

Should I also comment out those lines?