From 67f9f074e98369e6828d42e731cdd74fde037e1c Mon Sep 17 00:00:00 2001 From: Silvio Traversaro Date: Fri, 23 Jun 2023 13:54:23 +0000 Subject: [PATCH 1/2] Automatic build. GitHub Actions build: 5357037518 icub-model-generator commit: robotology/icub-models-generator@33bc46048e7edebb29e79bf2be0e488ef4164d45 urdf_parser_py commit: ros/urdf_parser_py@31474b9baaf7c3845b40e5a9aa87d5900a2282c3 simmechanics-to-urdf commit: robotology/simmechanics-to-urdf@9431d99570921d20002461a02d4974020e97f22a --- iCub/conf/wrappers/FT/left_leg-FT_remapper.xml | 5 +---- iCub/conf/wrappers/FT/right_leg-FT_remapper.xml | 5 +---- iCub/conf_icub3/wrappers/FT/left_leg-FT_remapper.xml | 5 +---- iCub/conf_icub3/wrappers/FT/right_leg-FT_remapper.xml | 5 +---- 4 files changed, 4 insertions(+), 16 deletions(-) diff --git a/iCub/conf/wrappers/FT/left_leg-FT_remapper.xml b/iCub/conf/wrappers/FT/left_leg-FT_remapper.xml index 07afbe3..c344a9e 100644 --- a/iCub/conf/wrappers/FT/left_leg-FT_remapper.xml +++ b/iCub/conf/wrappers/FT/left_leg-FT_remapper.xml @@ -4,10 +4,7 @@ - (l_leg_ft_sensor l_foot_ft_sensor) - - - (l_leg_ft_sensor l_foot_ft_sensor) + (l_leg_ft l_foot_ft) diff --git a/iCub/conf/wrappers/FT/right_leg-FT_remapper.xml b/iCub/conf/wrappers/FT/right_leg-FT_remapper.xml index e628419..cfcec34 100644 --- a/iCub/conf/wrappers/FT/right_leg-FT_remapper.xml +++ b/iCub/conf/wrappers/FT/right_leg-FT_remapper.xml @@ -4,10 +4,7 @@ - (r_leg_ft_sensor r_foot_ft_sensor) - - - (r_leg_ft_sensor r_foot_ft_sensor) + (r_leg_ft r_foot_ft) diff --git a/iCub/conf_icub3/wrappers/FT/left_leg-FT_remapper.xml b/iCub/conf_icub3/wrappers/FT/left_leg-FT_remapper.xml index 998e6e4..73bc0fe 100644 --- a/iCub/conf_icub3/wrappers/FT/left_leg-FT_remapper.xml +++ b/iCub/conf_icub3/wrappers/FT/left_leg-FT_remapper.xml @@ -4,10 +4,7 @@ - (l_leg_ft_sensor l_foot_rear_ft_sensor l_foot_front_ft_sensor) - - - (l_leg_ft_sensor l_foot_rear_ft_sensor l_foot_front_ft_sensor) + (l_leg_ft l_foot_rear_ft l_foot_front_ft) diff --git a/iCub/conf_icub3/wrappers/FT/right_leg-FT_remapper.xml b/iCub/conf_icub3/wrappers/FT/right_leg-FT_remapper.xml index 4a69763..b60df29 100644 --- a/iCub/conf_icub3/wrappers/FT/right_leg-FT_remapper.xml +++ b/iCub/conf_icub3/wrappers/FT/right_leg-FT_remapper.xml @@ -4,10 +4,7 @@ - (r_leg_ft_sensor r_foot_rear_ft_sensor r_foot_front_ft_sensor) - - - (r_leg_ft_sensor r_foot_rear_ft_sensor r_foot_front_ft_sensor) + (r_leg_ft r_foot_rear_ft r_foot_front_ft) From 637553d77449e563c94429f295247bf5466943c3 Mon Sep 17 00:00:00 2001 From: Silvio Traversaro Date: Mon, 26 Jun 2023 12:30:25 +0000 Subject: [PATCH 2/2] Automatic build. GitHub Actions build: 5378052113 icub-model-generator commit: robotology/icub-models-generator@c7ea2a79f86d5620de9f194000712fec401a606a urdf_parser_py commit: ros/urdf_parser_py@31474b9baaf7c3845b40e5a9aa87d5900a2282c3 simmechanics-to-urdf commit: robotology/simmechanics-to-urdf@9431d99570921d20002461a02d4974020e97f22a --- iCub/conf/gazebo_icub_torso.ini | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/iCub/conf/gazebo_icub_torso.ini b/iCub/conf/gazebo_icub_torso.ini index d351ffb..a734fd3 100644 --- a/iCub/conf/gazebo_icub_torso.ini +++ b/iCub/conf/gazebo_icub_torso.ini @@ -15,8 +15,8 @@ max_damping 100.0 100.0 100.0 [POSITION_CONTROL] controlUnits metric_units controlLaw joint_pid_gazebo_v1 -kp 1.745 1.745 1.745 -kd 0.174 0.174 0.174 +kp 1.745 20.0 20.0 +kd 1.0 0.174 0.174 ki 0.174 0.174 0.174 maxInt 9999 9999 9999 maxOutput 9999 9999 9999