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Make sure ARE is working in Gazebo simulation #120
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Renamed the issue after the recent findings. |
There's a bunch of bugs that prevent ARE from working in gazebo. I'll remove this message when the fixes will be pushed. |
Is this still the case @pattacini ? In any case, I think the proper place for this issue is icub-models. |
Most of the basic components of ARE (Cartesian Controller, Gaze Controller, hand controller) are working nicely now as demonstrated in https://github.com/robotology/icub-gazebo-grasping-sandbox. Never tested ARE per se though. |
In particular, I've never checked whether WBD can run just fine. |
Several users are experiencing issues that (I think) are related to not properly tuned joint-level PID position loops of the iCub model in Gazebo, see:
We should tune the position gains with respect to some clearly defined scenario, such as the ARE one described by @frank-foerster in robotology-legacy/icub-gazebo-legacy#37 . For reference we should document on which scenario we tuned the gains, such that in the future we can simplify the process of re-tuning the gains for different robots (such as R1).
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