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icub3: add right/left_arm #147

Merged
merged 3 commits into from
Oct 20, 2020
Merged

icub3: add right/left_arm #147

merged 3 commits into from
Oct 20, 2020

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Nicogene
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@Nicogene Nicogene self-assigned this Oct 20, 2020
- 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).
@traversaro
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Can you open an issue in icub-models to track the problem of small inertias also in the iCubV3 model? Thanks!

Co-authored-by: Silvio Traversaro <silvio.traversaro@iit.it>
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Add gazebo yaml file that define bigger inertias, the real one are too small for the simulation
(see robotology/icub-models#33)

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.

@traversaro
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Can you open an issue in icub-models to track the problem of small inertias also in the iCubV3 model? Thanks!

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!

@traversaro traversaro merged commit 13af675 into master Oct 20, 2020
@traversaro traversaro deleted the icub3/Addforearm branch October 20, 2020 13:39
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cc @S-Dafarra

traversaro added a commit to robotology/icub-models that referenced this pull request Oct 21, 2020
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.
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2 participants