diff --git a/CHANGELOG.md b/CHANGELOG.md index 8ee42f8..8faad16 100644 --- a/CHANGELOG.md +++ b/CHANGELOG.md @@ -5,6 +5,9 @@ The format of this document is based on [Keep a Changelog](https://keepachangelo ## [Unreleased] +### Fixed +* New tuned pidParams for icub3 gazebo model for walking simulations (https://github.com/robotology/icub-models-generator/pull/219). + ## [1.23.4] - 2022-05-06 ### Fixed diff --git a/README.md b/README.md index b1cc96c..16f684b 100644 --- a/README.md +++ b/README.md @@ -91,6 +91,8 @@ int main() } ``` +***Note: The ABI and the API of the C++ helper library has breaking changes only at major releases of the `icub-models` package.*** + ### Use the models from Python helper library In order to use these models in `python` application you can exploit the `icub-models` module. `icub-models` provides a `python` package to called `icub_models`. You can install it via `cmake` diff --git a/iCub/conf_icub3/gazebo_icub_left_leg.ini b/iCub/conf_icub3/gazebo_icub_left_leg.ini index 246b879..0358224 100644 --- a/iCub/conf_icub3/gazebo_icub_left_leg.ini +++ b/iCub/conf_icub3/gazebo_icub_left_leg.ini @@ -37,15 +37,15 @@ max_damping 100.0 100.0 100.0 100.0 100.0 100.0 [POSITION_CONTROL] controlUnits metric_units controlLaw joint_pid_gazebo_v1 -kp 40.0 40.0 40.0 40.0 40.0 40.0 -kd 0.35 0.35 0.35 0.35 0.35 0.35 -ki 0.35 0.35 0.35 0.35 0.35 0.35 -maxInt 9999 9999 9999 9999 9999 9999 -maxOutput 9999 9999 9999 9999 9999 9999 -shift 0.0 0.0 0.0 0.0 0.0 0.0 -ko 0.0 0.0 0.0 0.0 0.0 0.0 -stictionUp 0.0 0.0 0.0 0.0 0.0 0.0 -stictionDwn 0.0 0.0 0.0 0.0 0.0 0.0 +kp 70.0 70.0 40.0 100.0 100.0 100.0 +kd 0.15 0.15 0.35 0.15 0.15 0.15 +ki 0.17 0.17 0.35 0.35 0.35 0.35 +maxInt 9999 9999 9999 9999 9999 9999 +maxOutput 9999 9999 9999 9999 9999 9999 +shift 0.0 0.0 0.0 0.0 0.0 0.0 +ko 0.0 0.0 0.0 0.0 0.0 0.0 +stictionUp 0.0 0.0 0.0 0.0 0.0 0.0 +stictionDwn 0.0 0.0 0.0 0.0 0.0 0.0 [VELOCITY_CONTROL] velocityControlImplementationType integrator_and_position_pid diff --git a/iCub/conf_icub3/gazebo_icub_right_leg.ini b/iCub/conf_icub3/gazebo_icub_right_leg.ini index c91f2dd..dad6914 100644 --- a/iCub/conf_icub3/gazebo_icub_right_leg.ini +++ b/iCub/conf_icub3/gazebo_icub_right_leg.ini @@ -37,15 +37,15 @@ max_damping 100.0 100.0 100.0 100.0 100.0 100.0 [POSITION_CONTROL] controlUnits metric_units controlLaw joint_pid_gazebo_v1 -kp 40.0 40.0 40.0 40.0 40.0 40.0 -kd 0.35 0.35 0.35 0.35 0.35 0.35 -ki 0.35 0.35 0.35 0.35 0.35 0.35 -maxInt 9999 9999 9999 9999 9999 9999 -maxOutput 9999 9999 9999 9999 9999 9999 -shift 0.0 0.0 0.0 0.0 0.0 0.0 -ko 0.0 0.0 0.0 0.0 0.0 0.0 -stictionUp 0.0 0.0 0.0 0.0 0.0 0.0 -stictionDwn 0.0 0.0 0.0 0.0 0.0 0.0 +kp 70.0 70.0 40.0 100.0 100.0 100.0 +kd 0.15 0.15 0.35 0.15 0.15 0.15 +ki 0.17 0.17 0.35 0.35 0.35 0.35 +maxInt 9999 9999 9999 9999 9999 9999 +maxOutput 9999 9999 9999 9999 9999 9999 +shift 0.0 0.0 0.0 0.0 0.0 0.0 +ko 0.0 0.0 0.0 0.0 0.0 0.0 +stictionUp 0.0 0.0 0.0 0.0 0.0 0.0 +stictionDwn 0.0 0.0 0.0 0.0 0.0 0.0 [VELOCITY_CONTROL] velocityControlImplementationType integrator_and_position_pid diff --git a/iCub/conf_icub3/gazebo_icub_torso.ini b/iCub/conf_icub3/gazebo_icub_torso.ini index 2b7ef44..e839317 100644 --- a/iCub/conf_icub3/gazebo_icub_torso.ini +++ b/iCub/conf_icub3/gazebo_icub_torso.ini @@ -37,9 +37,9 @@ max_damping 100.0 100.0 100.0 [POSITION_CONTROL] controlUnits metric_units controlLaw joint_pid_gazebo_v1 -kp 40.0 40.0 40.0 -kd 0.35 0.35 0.35 -ki 0.35 0.35 0.35 +kp 70.0 70.0 70.0 +kd 0.15 0.15 0.15 +ki 0.17 0.17 0.17 maxInt 9999 9999 9999 maxOutput 9999 9999 9999 shift 0.0 0.0 0.0 diff --git a/iCub/robots/iCubGazeboV3/model.urdf b/iCub/robots/iCubGazeboV3/model.urdf index a0ef589..0c4ab90 100644 --- a/iCub/robots/iCubGazeboV3/model.urdf +++ b/iCub/robots/iCubGazeboV3/model.urdf @@ -1775,4 +1775,3 @@ 0.0 0.0 0.64 0.0 0.0 0.0 -