Commit d58a2494 authored by Olivier Stasse's avatar Olivier Stasse

Set PID to zero between the time the system switch to effort control and start the dynamic_graph.

parent 741c0c94
......@@ -9,4 +9,117 @@ sot_controller:
map_rc_to_sot_device: { motor-angles: motor-angles ,
joint-angles: joint-angles, velocities: velocities, forces: forces, currents: currents,
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: 0.0
d_gain: 0.0
des_pos: 0.0
- name: leg_left_2_joint
p_gain: 0.0
d_gain: 0.0
des_pos: 0.0
- name: leg_left_3_joint
p_gain: 0.0
d_gain: 0.0
des_pos: 0.0
- name: leg_left_4_joint
p_gain: 0.0
d_gain: 0.0
des_pos: 0.0
- name: leg_left_5_joint
p_gain: 0.0
d_gain: 0.0
des_pos: 0.0
- name: leg_left_6_joint
p_gain: 0.0
d_gain: 0.0
des_pos: 0.0
- name: leg_right_1_joint
p_gain: 0.0
d_gain: 0.0
des_pos: 0.0
- name: leg_right_2_joint
p_gain: 0.0
d_gain: 0.0
des_pos: 0.0
- name: leg_right_3_joint
p_gain: 0.0
d_gain: 0.0
des_pos: 0.0
- name: leg_right_4_joint
p_gain: 0.0
d_gain: 0.0
des_pos: 0.0
- name: leg_right_5_joint
p_gain: 0.0
d_gain: 0.0
des_pos: 0.0
- name: leg_right_6_joint
p_gain: 0.0
d_gain: 0.0
des_pos: 0.0
- name: torso_1_joint
p_gain: 0.0
d_gain: 0.0
des_pos: 0.0
- name: torso_2_joint
p_gain: 0.0
d_gain: 0.0
des_pos: 0.0
- name: arm_left_1_joint
p_gain: 0.0
d_gain: 0.0
des_pos: 0.0
- name: arm_left_2_joint
p_gain: 0.0
d_gain: 0.0
des_pos: 0.0
- name: arm_left_3_joint
p_gain: 0.0
d_gain: 0.0
des_pos: 0.0
- name: arm_left_4_joint
p_gain: 0.0
d_gain: 0.0
des_pos: 0.0
- name: arm_left_5_joint
p_gain: 0.0
d_gain: 0.0
des_pos: 0.0
- name: arm_left_6_joint
p_gain: 0.0
d_gain: 0.0
des_pos: 0.0
- name: arm_left_7_joint
p_gain: 0.0
d_gain: 0.0
des_pos: 0.0
- name: arm_right_1_joint
p_gain: 0.0
d_gain: 0.0
des_pos: 0.0
- name: arm_right_2_joint
p_gain: 0.0
d_gain: 0.0
des_pos: 0.0
- name: arm_right_3_joint
p_gain: 0.0
d_gain: 0.0
des_pos: 0.0
- name: arm_right_4_joint
p_gain: 0.0
d_gain: 0.0
des_pos: 0.0
- name: arm_right_5_joint
p_gain: 0.0
d_gain: 0.0
des_pos: 0.0
- name: arm_right_6_joint
p_gain: 0.0
d_gain: 0.0
des_pos: 0.0
- name: arm_right_7_joint
p_gain: 0.0
d_gain: 0.0
des_pos: 0.0
control_mode: EFFORT
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