new tuned pidParams for icub3 gazebo model for walking simulations

[mebbaid]

With reference to this pull request and the corresponding one in the walking-controllers (i.e this PR ). I am updating the values of the low-level position-control pid gains. These new values seems to work on several machines and also for the stickBot. see also this issue.

P.S.
I opened the PR directly on master since the interested people are limited and the PR should not, in theory, break any other simulation related activity. Feel free to suggest a different approach.

[traversaro]

P.S.
I opened the PR directly on master since the interested people are limited and the PR should not, in theory, break any other simulation related activity. Feel free to suggest a different approach.

Do not worry, this repo only have a master branch.

[traversaro]

Just to double check: is this intentional? For all other limbs kd and ki are smaller then kp, here instead they are equal.

[mebbaid]

Thanks a lot for catching that. Its indeed a typo due to using multiple versions locally of the repo to do the changes and tests. Fixed the typos and tested.

[traversaro]

Just a small comment on icub3 icub torso.

[traversaro]

Ok for me, not sure if @GiulioRomualdi or @lrapetti want to double check.

[lrapetti]

Ok for me, not sure if @GiulioRomualdi or @lrapetti want to double check.

For me are fine as well, I would leave the last word to @GiulioRomualdi if he has any comment on it

[lrapetti]

These new values seems to work on several machines and also for the stickBot.

@mebbaid is the stickBot directly using those files, or should we change them somewhere else?

[mebbaid]

These new values seems to work on several machines and also for the stickBot.

@mebbaid is the stickBot directly using those files, or should we change them somewhere else?

No. This is because the stickBot is not generated using the icub-model-generator repo. In my local set-up, these modification are done instead inside the correponding ergocub-gazebo-simulations/conf_stickBot repo folder in the corresponding sub-files. I will open a similar PR in that repo as well.

[traversaro]

Ok for me, not sure if @GiulioRomualdi or @lrapetti want to double check.

For me are fine as well, I would leave the last word to @GiulioRomualdi if he has any comment on it

Friendly ping @GiulioRomualdi .

[GiulioRomualdi]

Fine to me 😀