Merge pull request #89 from robotology/devel

Merge devel in master and do a release

Author: traversaro

CHANGELOG.md

@@ -3,6 +3,12 @@ All notable changes to this project will be documented in this file.
 
 The format of this document is based on [Keep a Changelog](https://keepachangelog.com/en/1.0.0/).
 
+
+## [1.20.0] - 2021-05-30
+
+### Changed
+The gains and damping parameters of `iCubGazeboV3` have been changed (https://github.com/robotology/icub-models-generator/pull/199).
+
 ## [1.19.0] - 2021-02-24
 
 ### Added 

iCub/conf_icub3/gazebo_icub_left_leg.ini

@@ -37,9 +37,9 @@ max_damping   100.0  100.0  100.0  100.0  100.0  100.0
 [POSITION_CONTROL]
 controlUnits  metric_units
 controlLaw    joint_pid_gazebo_v1
-kp            15.453 22.453 17.453 30.00  25.453 25.453
-kd            0.174  0.174  0.174  0.174  0.174  0.174
-ki            0.174  0.174  0.174  0.174  0.174  5.174
+kp            40.0   40.0   40.0   40.0   40.0   40.0
+kd            0.35   0.35   0.35   0.35   0.35   0.35
+ki            0.35   0.35   0.35   0.35   0.35   0.35
 maxInt        9999   9999   9999   9999   9999   9999
 maxOutput     9999   9999   9999   9999   9999   9999
 shift         0.0    0.0    0.0    0.0    0.0    0.0

iCub/conf_icub3/gazebo_icub_right_leg.ini

@@ -37,9 +37,9 @@ max_damping   100.0  100.0  100.0  100.0  100.0  100.0
 [POSITION_CONTROL]
 controlUnits  metric_units
 controlLaw    joint_pid_gazebo_v1
-kp            15.453 22.453 17.453 30.00  25.453 25.453
-kd            0.174  0.174  0.174  0.174  0.174  0.174
-ki            0.174  0.174  0.174  0.174  0.174  5.174
+kp            40.0   40.0   40.0   40.0   40.0   40.0
+kd            0.35   0.35   0.35   0.35   0.35   0.35
+ki            0.35   0.35   0.35   0.35   0.35   0.35
 maxInt        9999   9999   9999   9999   9999   9999
 maxOutput     9999   9999   9999   9999   9999   9999
 shift         0.0    0.0    0.0    0.0    0.0    0.0

iCub/conf_icub3/gazebo_icub_torso.ini

@@ -37,9 +37,9 @@ max_damping   100.0  100.0  100.0
 [POSITION_CONTROL]
 controlUnits  metric_units
 controlLaw    joint_pid_gazebo_v1
-kp            1.745 5.745 15.745
-kd            0.174 0.174 0.174
-ki            0.174 4.174 3.174
+kp            40.0  40.0  40.0
+kd            0.35  0.35  0.35
+ki            0.35  0.35  0.35
 maxInt        9999  9999  9999
 maxOutput     9999  9999  9999
 shift         0.0   0.0   0.0