Commit 5e1de36c authored by Gabriele Buondonno's avatar Gabriele Buondonno
Browse files

New gains

parent 63717db4
Pipeline #7690 passed with stage
in 56 minutes and 31 seconds
......@@ -193,7 +193,7 @@ robot.zmp_estimator = zmp_estimator
# -------------------------- ADMITTANCE CONTROL --------------------------
# --- DCM controller
Kp_dcm = [8.0] * 3
Kp_dcm = [5.0] * 3
Ki_dcm = [0.0, 0.0, 0.0] # zero (to be set later)
Kz_dcm = [0.] * 3
gamma_dcm = 0.2
......@@ -221,7 +221,7 @@ robot.dcm_control = dcm_controller
Ki_dcm = [1.0, 1.0, 1.0] # this value is employed later
Kz_dcm = [0.0, 0.0, 0.0] # this value is employed later
Kz_dcm = [1.0, 1.0, 1.0] # this value is employed later
# --- CoM admittance controller
Kp_adm = [0.0, 0.0, 0.0] # zero (to be set later)
......
......@@ -218,7 +218,7 @@ robot.zmp_estimator = zmp_estimator
# -------------------------- ADMITTANCE CONTROL --------------------------
# --- DCM controller
Kp_dcm = [8.0] * 3
Kp_dcm = [5.0] * 3
Ki_dcm = [0.0, 0.0, 0.0] # zero (to be set later)
Kz_dcm = [0.] * 3
gamma_dcm = 0.2
......@@ -246,7 +246,7 @@ robot.dcm_control = dcm_controller
Ki_dcm = [1.0, 1.0, 1.0] # this value is employed later
Kz_dcm = [0.0, 0.0, 0.0] # this value is employed later
Kz_dcm = [1.0, 1.0, 0.0] # this value is employed later
# --- Distribute wrench
distribute = create_simple_distribute_wrench()
......@@ -282,7 +282,7 @@ swingAdmittance = [0.] * 3
gainSwing = 300.
gainStance = 300.
gainDouble = 1.
gainDouble = 300.
controller = FootForceDifferenceController("footController")
controller.init()
......
......@@ -16,7 +16,7 @@ from dynamic_graph.sot.dynamics_pinocchio import DynamicPinocchio
from dynamic_graph.tracer_real_time import TracerRealTime
from sot_talos_balance.create_entities_utils import *
cm_conf.CTRL_MAX = 10.0 # temporary hack
cm_conf.CTRL_MAX = 1000.0 # temporary hack
robot.timeStep = robot.device.getTimeStep()
dt = robot.timeStep
......@@ -200,7 +200,7 @@ robot.zmp_estimator = zmp_estimator
# -------------------------- ADMITTANCE CONTROL --------------------------
# --- DCM controller
Kp_dcm = [8.0] * 3
Kp_dcm = [5.0] * 3
Ki_dcm = [0.0, 0.0, 0.0] # zero (to be set later)
Kz_dcm = [0.] * 3
gamma_dcm = 0.2
......@@ -228,7 +228,7 @@ robot.dcm_control = dcm_controller
Ki_dcm = [1.0, 1.0, 1.0] # this value is employed later
Kz_dcm = [0.0, 0.0, 0.0] # this value is employed later
Kz_dcm = [1.0, 1.0, 1.0] # this value is employed later
# --- CoM admittance controller
Kp_adm = [0.0, 0.0, 0.0] # zero (to be set later)
......
......@@ -194,7 +194,7 @@ robot.zmp_estimator = zmp_estimator
# -------------------------- ADMITTANCE CONTROL --------------------------
# --- DCM controller
Kp_dcm = [8.0] * 3
Kp_dcm = [5.0] * 3
Ki_dcm = [0.0, 0.0, 0.0] # zero (to be set later)
Kz_dcm = [0.] * 3
gamma_dcm = 0.2
......@@ -222,7 +222,7 @@ robot.dcm_control = dcm_controller
Ki_dcm = [1.0, 1.0, 1.0] # this value is employed later
Kz_dcm = [0.0, 0.0, 0.0] # this value is employed later
Kz_dcm = [1.0, 1.0, 0.0] # this value is employed later
# --- CoM admittance controller
Kp_adm = [0.0, 0.0, 0.0] # zero (to be set later)
......
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