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Tuning icub #108

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Tuning icub #108

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@jbmouret jbmouret commented Jun 8, 2022

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@jbmouret jbmouret changed the base branch from master to devel June 8, 2022 15:52
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jbmouret commented Jun 8, 2022 •
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This some weight tuning for the icub. This should be merged soon, but we will probably tune it more on the real robot.

A few remarks:

  • new starting posture
  • the momentum helps to stabilize the hip (otherwise, weird motions on the hip)
  • the weight of the posture task is increased to keep a good position
  • more priority on the CoM

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Thank you. Does this need a new URDF? If so, can you do a PR on robot_dart for this?

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@jbmouret @dalinel @olivierrochel-inria