Commit c2bfd5ae authored by Olivier Stasse's avatar Olivier Stasse

Update PIDs values for the real robot

parent 5af60cff
......@@ -11,115 +11,115 @@ sot_controller:
torques: torques, cmd-joints: control, cmd-effort: control, accelerometer_0: accelerometer_0, gyrometer_0: gyrometer_0 }
effort_control_pd_motor_init:
- name: leg_left_1_joint
p_gain: 1000.0
d_gain: 1000.0
p_gain: 0.0
d_gain: 0.0
des_pos: 0.0
- name: leg_left_2_joint
p_gain: 1000.0
d_gain: 1000.0
p_gain: 0.0
d_gain: 0.0
des_pos: 0.0
- name: leg_left_3_joint
p_gain: 1000.0
d_gain: 1000.0
p_gain: 0.0
d_gain: 0.0
des_pos: 0.0
- name: leg_left_4_joint
p_gain: 1000.0
d_gain: 1000.0
p_gain: 0.0
d_gain: 0.0
des_pos: 0.0
- name: leg_left_5_joint
p_gain: 1000.0
d_gain: 1000.0
p_gain: 0.0
d_gain: 0.0
des_pos: 0.0
- name: leg_left_6_joint
p_gain: 1000.0
d_gain: 1000.0
p_gain: 0.0
d_gain: 0.0
des_pos: 0.0
- name: leg_right_1_joint
p_gain: 1000.0
d_gain: 1000.0
p_gain: 0.0
d_gain: 0.0
des_pos: 0.0
- name: leg_right_2_joint
p_gain: 1000.0
d_gain: 1000.0
p_gain: 0.0
d_gain: 0.0
des_pos: 0.0
- name: leg_right_3_joint
p_gain: 1000.0
d_gain: 1000.0
p_gain: 0.0
d_gain: 0.0
des_pos: 0.0
- name: leg_right_4_joint
p_gain: 1000.0
d_gain: 1000.0
p_gain: 0.0
d_gain: 0.0
des_pos: 0.0
- name: leg_right_5_joint
p_gain: 1000.0
d_gain: 1000.0
p_gain: 0.0
d_gain: 0.0
des_pos: 0.0
- name: leg_right_6_joint
p_gain: 1000.0
d_gain: 1000.0
p_gain: 0.0
d_gain: 0.0
des_pos: 0.0
- name: torso_1_joint
p_gain: 1000.0
d_gain: 1000.0
p_gain: 0.0
d_gain: 0.0
des_pos: 0.0
- name: torso_2_joint
p_gain: 1000.0
d_gain: 1000.0
p_gain: 0.0
d_gain: 0.0
des_pos: 0.0
- name: arm_left_1_joint
p_gain: 1000.0
d_gain: 1000.0
p_gain: 0.0
d_gain: 0.0
des_pos: 0.0
- name: arm_left_2_joint
p_gain: 1000.0
d_gain: 1000.0
p_gain: 0.0
d_gain: 0.0
des_pos: 0.0
- name: arm_left_3_joint
p_gain: 1000.0
d_gain: 1000.0
p_gain: 0.0
d_gain: 0.0
des_pos: 0.0
- name: arm_left_4_joint
p_gain: 1000.0
d_gain: 1000.0
p_gain: 0.0
d_gain: 0.0
des_pos: 0.0
- name: arm_left_5_joint
p_gain: 1000.0
d_gain: 1000.0
p_gain: 0.0
d_gain: 0.0
des_pos: 0.0
- name: arm_left_6_joint
p_gain: 1000.0
d_gain: 1000.0
p_gain: 0.0
d_gain: 0.0
des_pos: 0.0
- name: arm_left_7_joint
p_gain: 1000.0
d_gain: 1000.0
p_gain: 0.0
d_gain: 0.0
des_pos: 0.0
- name: arm_right_1_joint
p_gain: 1000.0
d_gain: 1000.0
p_gain: 0.0
d_gain: 0.0
des_pos: 0.0
- name: arm_right_2_joint
p_gain: 1000.0
d_gain: 1000.0
p_gain: 0.0
d_gain: 0.0
des_pos: 0.0
- name: arm_right_3_joint
p_gain: 1000.0
d_gain: 1000.0
p_gain: 0.0
d_gain: 0.0
des_pos: 0.0
- name: arm_right_4_joint
p_gain: 1000.0
d_gain: 1000.0
p_gain: 0.0
d_gain: 0.0
des_pos: 0.0
- name: arm_right_5_joint
p_gain: 1000.0
d_gain: 1000.0
p_gain: 0.0
d_gain: 0.0
des_pos: 0.0
- name: arm_right_6_joint
p_gain: 1000.0
d_gain: 1000.0
p_gain: 0.0
d_gain: 0.0
des_pos: 0.0
- name: arm_right_7_joint
p_gain: 1000.0
d_gain: 1000.0
p_gain: 0.0
d_gain: 0.0
des_pos: 0.0
control_mode: EFFORT
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