new pid vals for torso in walking simulations #126
Closed
Add this suggestion to a batch that can be applied as a single commit.
This suggestion is invalid because no changes were made to the code.
Suggestions cannot be applied while the pull request is closed.
Suggestions cannot be applied while viewing a subset of changes.
Only one suggestion per line can be applied in a batch.
Add this suggestion to a batch that can be applied as a single commit.
Applying suggestions on deleted lines is not supported.
You must change the existing code in this line in order to create a valid suggestion.
Outdated suggestions cannot be applied.
This suggestion has been applied or marked resolved.
Suggestions cannot be applied from pending reviews.
Suggestions cannot be applied on multi-line comments.
Suggestions cannot be applied while the pull request is queued to merge.
Suggestion cannot be applied right now. Please check back later.
With reference to this issue concerning a long stable walking for iCubV3 in Gazebo, and after some trial and error, we have these values for the pidparams.
Also see this comment and corresponding PR.
With these values, the walking in simulation seems stable as suggested by this video
working_tuned_pid.MP4
and also the torso controlled in position in isolation seems to work fine (so no side effect) as suggested by this video
new_torso_pids.mp4
In case, these modifications as I understood only concern controlling the robot in simulation, and since HSP are trying to use the walking-controllers to test their navigation strategies, I opened this pr.