Realistic inertia #200
Merged
Realistic inertia #200
Conversation
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
…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)
|
@guihomework I'm having issues on my computer with those new values. A you can see below the hand is really twitchy (I sent a
|
|
It does not look good. As this is mostly launch file and xacro changes, you might have not recompiled the sr_gazebo_plugin, which has now the explicit viscous damping removed. I don't see this behavior, my hand is perfectly stable (really I am surprised myself). I have a realtime factor of 1.5 on my machine. Could this come from computing instabilities due to slower computer ? |
|
Duh! recompiling fixed it, sorry about that!! |
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
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Outdated suggestions cannot be applied.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.
from @guihomework
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.