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icub3: add right/left_arm #147
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- Fixes shoulder_yaw/arm_ft_sensor joint definition that are swapped respect to icub. - Add right_arm and left_arm without hands. - Add gazebo yaml file that define bigger inertias, the real one are too small for the simulation (see robotology/icub-models#33) - Add conf files for arms and files for configuration of the only upperbody(no_forarm).
Can you open an issue in icub-models to track the problem of small inertias also in the iCubV3 model? Thanks! |
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Co-authored-by: Silvio Traversaro <silvio.traversaro@iit.it>
To clarify, it is not that the real one are too small for simulation. They are giving numerical errors when using the default physics engine in Gazebo and with the default settings, and when the position control with the default gains that are given in the .ini . When the controlboard is not active, the simulation works fine, so it may be possible to fix this by tweaking some parameters, for example decreasing the gains. |
I think this is the only missing point, I am afraid that robotology/icub-models#33 is too generic, as the iCub3 problem could be solved independently from robotology/icub-models#33 I think it is more clear if we track it in a separate issue, thanks! |
cc @S-Dafarra |
The model was removed in robotology/icub-models-generator#147 and substituted by the iCubGazeboV3 model, but the generation process only adds/update existing files, never removes them.
(see Avoid to use modified models to deal with numerical instabilities in Gazebo and related tools icub-models#33)