Realistic inertia #199
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Realistic inertia #199
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…nd adapted dynamics damping to be coherent with realistic inertia
…support the small values now) Removed explicit viscous damping from sr_gazebo_plugin, enabled springDamper in each joint (implicit viscous damping) changed simulation parameters for stability and retuned the controllers, explicitely define friction_deadband for simulated controllers (default is for real hand and is too high)
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Guillaume, I'm closing this pull request (but opening a new one with the same content). This way I'll be able to point to the doc files in a README for an easier way to find them. Thanks a lot for that. |
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Following this #196 request of merging realistic inertia by @hsu, and thanks to his advice, new inertia were set and the root problem of exploding hand was found : explicit viscous damping does not work on small elements with very small inertia. Implicit viscous damping is now used and damping coefficient was retuned. New ode parameters and a complete retuning of the hand was also necessary. Biotac hand was also adapted, tested and is stable. Hand lite works too.
Arm was tuned with hand attached. It reacts a bit abruptly when no hand attached but this cannot be avoided unless two different controller settings are loaded.
mixed_position_velocity tuning is now broken but is probably not used. I will work on that later as it is either really hard to tune or impossible (velocity measurements are very noisy, hence implicit viscous damping, which breaks velocity controller)
See #196 for another remaining minor problem
Doc about inertia computation added.