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Commit a46c2a90 authored by Olivier Stasse's avatar Olivier Stasse
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[control_loop] Fix the gains for H1.

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tools/control_loop.cc
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......@@ -87,33 +87,33 @@ int main(int argc, char **argv)
};
gz_transport_hw_tools::RobotCtrlJointInfos h1_2_ctrl_joint_infos {
{ "left_shoulder_pitch_joint", ControlJointValue( 0.0, 0.0, 0.0, 0.0, 0.0, 0.0) },
{ "left_shoulder_roll_joint", ControlJointValue( 0.0, 0.0, 0.0, 0.0, 0.0, 0.0) },
{ "left_shoulder_yaw_joint", ControlJointValue( 0.0, 0.0, 0.0, 0.0, 0.0, 0.0) },
{ "left_elbow_joint", ControlJointValue( 0.0, 0.0, 0.0, 0.0, 0.0, 0.0) },
{ "left_wrist_roll_joint", ControlJointValue( 0.0, 0.0, 0.0, 0.0, 0.0, 0.0) },
{ "left_wrist_pitch_joint", ControlJointValue( 0.0, 0.0, 0.0, 0.0, 0.0, 0.0) },
{ "left_wrist_yaw_joint", ControlJointValue( 0.0, 0.0, 0.0, 0.0, 0.0, 0.0) },
{ "right_shoulder_pitch_joint",ControlJointValue( 0.0, 0.0, 0.0, 0.0, 0.0, 0.0) },
{ "right_shoulder_roll_joint", ControlJointValue( 0.0, 0.0, 0.0, 0.0, 0.0, 0.0) },
{ "right_shoulder_yaw_joint", ControlJointValue( 0.0, 0.0, 0.0, 0.0, 0.0, 0.0) },
{ "right_elbow_joint", ControlJointValue( 0.0, 0.0, 0.0, 0.0, 0.0, 0.0) },
{ "right_wrist_roll_joint", ControlJointValue( 0.0, 0.0, 0.0, 0.0, 0.0, 0.0) },
{ "right_wrist_pitch_joint", ControlJointValue( 0.0, 0.0, 0.0, 0.0, 0.0, 0.0) },
{ "right_wrist_yaw_joint", ControlJointValue( 0.0, 0.0, 0.0, 0.0, 0.0, 0.0) },
{ "left_hip_yaw_joint", ControlJointValue( 0.0, 0.0, 0.0, 0.0, 0.0, 0.0) },
{ "left_hip_pitch_joint", ControlJointValue( 0.0, 0.0, 0.0, 0.0, 0.0, 0.0) },
{ "left_hip_roll_joint", ControlJointValue( 0.0, 0.0, 0.0, 0.0, 0.0, 0.0) },
{ "left_knee_joint", ControlJointValue( 0.0, 0.0, 0.0, 0.0, 0.0, 0.0) },
{ "left_ankle_pitch_joint", ControlJointValue( 0.0, 0.0, 0.0, 0.0, 0.0, 0.0) },
{ "left_ankle_roll_joint", ControlJointValue( 0.0, 0.0, 0.0, 0.0, 0.0, 0.0) },
{ "right_hip_yaw_joint", ControlJointValue( 0.0, 0.0, 0.0, 0.0, 0.0, 0.0) },
{ "right_hip_pitch_joint", ControlJointValue( 0.0, 0.0, 0.0, 0.0, 0.0, 0.0) },
{ "right_hip_roll_joint", ControlJointValue( 0.0, 0.0, 0.0, 0.0, 0.0, 0.0) },
{ "right_knee_joint", ControlJointValue( 0.0, 0.0, 0.0, 0.0, 0.0, 0.0) },
{ "right_ankle_pitch_joint", ControlJointValue( 0.0, 0.0, 0.0, 0.0, 0.0, 0.0) },
{ "right_ankle_roll_joint", ControlJointValue( 0.0, 0.0, 0.0, 0.0, 0.0, 0.0) },
{ "torso_joint", ControlJointValue( 0.0, 0.0, 0.0, 0.0, 0.0, 0.0) },
{ "left_shoulder_pitch_joint", ControlJointValue( 10000.0, 0.01, 1.0, 14.0, 0.0, 0.0) },
{ "left_shoulder_roll_joint", ControlJointValue( 10000.0, 0.01, 1.0, 14.0, 0.0, 0.0) },
{ "left_shoulder_yaw_joint", ControlJointValue( 5000.0, 0.0, 1.0, 9.0, 0.0, 0.0) },
{ "left_elbow_joint", ControlJointValue( 5000.0, 0.0, 1.0, 9.0, 0.0, 0.0) },
{ "left_wrist_roll_joint", ControlJointValue( 500.0, 1.0, 0.1, 5.0, 0.0, 0.0) },
{ "left_wrist_pitch_joint", ControlJointValue( 500.0, 1.0, 0.1, 5.0, 0.0, 0.0) },
{ "left_wrist_yaw_joint", ControlJointValue( 500.0, 1.0, 0.1, 3.0, 0.0, 0.0) },
{ "right_shoulder_pitch_joint",ControlJointValue(10000.0, 0.01, 1.0, 0.0, 0.0, 0.0) },
{ "right_shoulder_roll_joint", ControlJointValue(10000.0, 0.01, 1.0, 0.0, 0.0, 0.0) },
{ "right_shoulder_yaw_joint", ControlJointValue( 5000.0, 0.0, 1.0, 0.0, 0.0, 0.0) },
{ "right_elbow_joint", ControlJointValue( 5000.0, 0.0, 1.0, 0.0, 0.0, 0.0) },
{ "right_wrist_roll_joint", ControlJointValue( 500.0, 1.0, 0.1, 0.0, 0.0, 0.0) },
{ "right_wrist_pitch_joint", ControlJointValue( 500.0, 1.0, 0.1, 0.0, 0.0, 0.0) },
{ "right_wrist_yaw_joint", ControlJointValue( 500.0, 1.0, 0.1, 0.0, 0.0, 0.0) },
{ "left_hip_yaw_joint", ControlJointValue( 5000.0, 20.0, 5.0, 7.0, 0.0, 0.0) },
{ "left_hip_pitch_joint", ControlJointValue( 5000.0, 20.0, 5.0, 14.0, 0.0, 0.0) },
{ "left_hip_roll_joint", ControlJointValue( 5000.0, 20.0, 5.0, 14.0, 0.0, 0.0) },
{ "left_knee_joint", ControlJointValue( 5000.0, 20.0, 5.0, 25.0, 0.0, 0.0) },
{ "left_ankle_pitch_joint", ControlJointValue( 5000.0, 20.0, 5.0, 14.0, 0.0, 0.0) },
{ "left_ankle_roll_joint", ControlJointValue( 5000.0, 20.0, 5.0, 9.0, 0.0, 0.0) },
{ "right_hip_yaw_joint", ControlJointValue( 5000.0, 20.0, 5.0, 7.0, 0.0, 0.0) },
{ "right_hip_pitch_joint", ControlJointValue( 5000.0, 20.0, 5.0, 14.0, 0.0, 0.0) },
{ "right_hip_roll_joint", ControlJointValue( 5000.0, 20.0, 5.0, 14.0, 0.0, 0.0) },
{ "right_knee_joint", ControlJointValue( 5000.0, 20.0, 5.0, 25.0, 0.0, 0.0) },
{ "right_ankle_pitch_joint", ControlJointValue( 5000.0, 20.0, 5.0, 14.0, 0.0, 0.0) },
{ "right_ankle_roll_joint", ControlJointValue( 5000.0, 20.0, 5.0, 9.0, 0.0, 0.0) },
{ "torso_joint", ControlJointValue(10000.0, 20.0, 1.0, 10.0, 0.0, 0.0) },
};
......@@ -134,7 +134,7 @@ int main(int argc, char **argv)
a_robot_ctrl_joint_infos = (choice==0) ?
h1_2_ctrl_joint_infos: talos_ctrl_joint_infos ;
bool debug_level = false;
bool debug_level = true;
gz_transport_hw_tools::PerceptionActionLoop a_pal(a_robot_ctrl_joint_infos,
......
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