Nao joints stiffness issue while using robocup3ds plugin
Hi, I want to control Nao joints in Gazebo via robocup3ds plugin. The robot responds to my command e.g. it bends its knee (see image below). But it seems that the robot joints are not stiff enough. Please have a look at the image below. As can be seen the robot body is waving (ignore the head motion) while standing on one foot. Has anyone seen this issue with Gazebo and/or robocup3ds plugin before? Or it is definitely my fault. I really appreciate any help. Thanks.
Asked by hhnavid on 2018-12-18 11:26:46 UTC
Answers
Looks like a real NAO to me :D
Jokes apart, you can try tweaking the joint dynamics in the SDF.
Asked by chapulina on 2018-12-18 13:09:28 UTC
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Thanks for the reply. I will check the sdf file to see if I can fix this.
Asked by hhnavid on 2018-12-20 00:41:09 UTC
Could you give me more insights on how to do the tweaking. I'm not sure on what basis I should do it. Is it just trial and error? Or there are specific principles that I should follow. Thanks again.
Asked by hhnavid on 2018-12-27 09:28:22 UTC
I would try increasing LAnkleRoll and LAnklePitch's damping, friction and spring stiffness. It really depends on the desired outcome. I suspect the original model has been tuned to work similarly to a physical NAO. It's up to you to decide how much more stiffness you need.
Asked by chapulina on 2018-12-27 12:26:21 UTC
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