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Hello arennuit.

Question 1: Would I be able to reuse the same geometric and dynamic parameters and gains in the simulation and get a stable simulation with a behaviour in simulation comparable to the real life behaviour?

In the Community Forum 2014 ROS-Industrial, people COMAU (manufacturer of robots) showed GAZEBO model of one of his robot. The model runs same algorithms and parameters that control real robot, so you can reproduce the behavior of the real robot in the gazebo.

From my experience developing controllers and simulation models for the automotive sector, if you have a good model, you can use the same PID in the real world as a starting point. This is the base of Hardware In the Loop (HIL) testing.

Question 2: If the behaviours are different are they totally different and unrelated, or are the gains / parameters from the real world a good start to tweak the gains / parameters of the simulated world?

If behaviours are different, this point the model is not correlated with the real plant. So the values of gains will not correlate. This could apply to UR5 because we do not have a model of the controlers of the robot and we use standar PID from ROS. For sure, the controller of the real UR5 is better than PID.

If you find information on the control algorithms for robot motors, I offer to colaborate with you to model them in GAZEBO.

*Question 3: I know that gazebo uses ODE as its default engine, would the answer be the same with bullet or another engine? *

I don´t know.

Hello arennuit.

Question 1: Would I be able to reuse the same geometric and dynamic parameters and gains in the simulation and get a stable simulation with a behaviour in simulation comparable to the real life behaviour?

In the Community Forum 2014 ROS-Industrial, people COMAU (manufacturer of robots) showed GAZEBO model of one of his robot. The model runs same algorithms and parameters that control real robot, so you can reproduce the behavior of the real robot in the gazebo.

From my experience developing controllers and simulation models for the automotive sector, if you have a good model, you can use the same PID in the real world as a starting point. This is the base of Hardware In the Loop (HIL) testing.

Question 2: If the behaviours are different are they totally different and unrelated, or are the gains / parameters from the real world a good start to tweak the gains / parameters of the simulated world?

If behaviours are different, this point the model is not correlated with the real plant. So the values of gains will not correlate. This could apply to UR5 because we do not have a model of the controlers of the robot and we use standar PID from ROS. For sure, the controller of the real UR5 is better than PID.

If you find information on the control algorithms for robot motors, I offer to colaborate with you to model them in GAZEBO.

*Question Question 3: I know that gazebo uses ODE as its default engine, would the answer be the same with bullet or another engine? *

engine? I don´t know.