Commit 0f818e18 authored by Olivier Stasse's avatar Olivier Stasse

Remove integral terms in pid_efforts.

parent f3465df9
gains:
leg_left_1_joint: &leg_1_gains {p: 100, d: 0, i: 5, i_clamp: 7, torque_clamp: 60}
leg_left_2_joint: &leg_2_gains {p: 120, d: 0, i: 5, i_clamp: 14, torque_clamp: 160}
leg_left_3_joint: &leg_3_gains {p: 100, d: 0, i: 5, i_clamp: 14, torque_clamp: 160}
leg_left_4_joint: &leg_4_gains {p: 130, d: 0, i: 5, i_clamp: 25, torque_clamp: 300}
leg_left_5_joint: &leg_5_gains {p: 75, d: 0, i: 5, i_clamp: 14, torque_clamp: 160}
leg_left_6_joint: &leg_6_gains {p: 75, d: 0, i: 5, i_clamp: 9, torque_clamp: 100}
leg_left_1_joint: &leg_1_gains {p: 100, d: 0, i: 0, i_clamp: 7, torque_clamp: 60}
leg_left_2_joint: &leg_2_gains {p: 120, d: 0, i: 0, i_clamp: 14, torque_clamp: 160}
leg_left_3_joint: &leg_3_gains {p: 100, d: 0, i: 0, i_clamp: 14, torque_clamp: 160}
leg_left_4_joint: &leg_4_gains {p: 130, d: 0, i: 0, i_clamp: 25, torque_clamp: 300}
leg_left_5_joint: &leg_5_gains {p: 75, d: 0, i: 0, i_clamp: 14, torque_clamp: 160}
leg_left_6_joint: &leg_6_gains {p: 75, d: 0, i: 0, i_clamp: 9, torque_clamp: 100}
leg_right_1_joint: *leg_1_gains
leg_right_2_joint: *leg_2_gains
leg_right_3_joint: *leg_3_gains
......@@ -13,11 +13,11 @@ gains:
leg_right_6_joint: *leg_6_gains
head_1_joint: {p: 1, d: 0.0, i: 1, i_clamp: 5, torque_clamp: 8}
head_2_joint: {p: 1, d: 0.0, i: 1, i_clamp: 1.5, torque_clamp: 8}
head_1_joint: {p: 1, d: 0.0, i: 0, i_clamp: 5, torque_clamp: 8}
head_2_joint: {p: 1, d: 0.0, i: 0, i_clamp: 1.5, torque_clamp: 8}
torso_1_joint: {p: 30, d: 0, i: 1, i_clamp: 10, torque_clamp: 100}
torso_2_joint: {p: 30, d: 0, i: 1, i_clamp: 10, torque_clamp: 100}
torso_1_joint: {p: 30, d: 0, i: 0, i_clamp: 10, torque_clamp: 100}
torso_2_joint: {p: 30, d: 0, i: 0, i_clamp: 10, torque_clamp: 100}
arm_right_1_joint: &arm_1_gains {p: 20, d: 0, i: 0, i_clamp: 14, torque_clamp: 150}
arm_right_2_joint: &arm_2_gains {p: 100, d: 0, i: 0, i_clamp: 14, torque_clamp: 150}
......
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