Commit f3465df9 authored by Olivier Stasse's avatar Olivier Stasse

For starting the effort part we switch to gains.

parent abdb87a0
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_right_1_joint: *leg_1_gains
leg_right_2_joint: *leg_2_gains
leg_right_3_joint: *leg_3_gains
leg_right_4_joint: *leg_4_gains
leg_right_5_joint: *leg_5_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}
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}
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}
arm_right_3_joint: &arm_3_gains {p: 50, d: 0, i: 0, i_clamp: 9, torque_clamp: 100}
arm_right_4_joint: &arm_4_gains {p: 50, d: 0, i: 0, i_clamp: 9, torque_clamp: 100}
arm_right_5_joint: &arm_5_gains {p: 50, d: 0, i: 0, i_clamp: 5, torque_clamp: 50}
arm_right_6_joint: &arm_6_gains {p: 30, d: 0, i: 0, i_clamp: 3, torque_clamp: 30}
arm_right_7_joint: &arm_7_gains {p: 30, d: 0, i: 0, i_clamp: 3, torque_clamp: 30}
arm_left_1_joint: *arm_1_gains
arm_left_2_joint: *arm_2_gains
arm_left_3_joint: *arm_3_gains
arm_left_4_joint: *arm_4_gains
arm_left_5_joint: *arm_5_gains
arm_left_6_joint: *arm_6_gains
arm_left_7_joint: *arm_7_gains
gripper_left_joint: {p: 0.002, d: 0, i: 0, i_clamp: 10, torque_clamp: 100}
gripper_right_joint: {p: 0.002, d: 0, i: 0, i_clamp: 10, torque_clamp: 100}
#https://answers.ros.org/question/283537/how-to-do-mimic-joints-that-work-in-gazebo/
gripperleft_inner_double_joint: &gripper_gains {p: 20, d: 0.0, i: 0.0, i_clamp: 0.2, antiwindup: false}
gripper_left_fingertip_1_joint: *gripper_gains
gripper_left_fingertip_2_joint: *gripper_gains
gripper_left_motor_single_joint: *gripper_gains
gripper_left_fingertip_3_joint: *gripper_gains
gripper_left_inner_single_joint: *gripper_gains
gripper_left_inner_double_joint: *gripper_gains
gripper_right_inner_double_joint: *gripper_gains
gripper_right_fingertip_1_joint: *gripper_gains
gripper_right_fingertip_2_joint: *gripper_gains
gripper_right_motor_single_joint: *gripper_gains
gripper_right_fingertip_3_joint: *gripper_gains
gripper_right_inner_single_joint: *gripper_gains
......@@ -2,7 +2,7 @@
<!-- Sot Controller configuration -->
<rosparam command="load" file="$(find roscontrol_sot_talos)/config/sot_talos_params_effort.yaml"/>
<rosparam command="load" ns="/sot_controller/effort_control_pd_motor_init" file="$(find talos_hardware_gazebo)/config/pids.yaml"/>
<rosparam command="load" ns="/sot_controller/effort_control_pd_motor_init" file="$(find roscontrol_sot_talos)/config/pids_effort.yaml"/>
<rosparam command="load" file="$(find roscontrol_sot_talos)/config/sot_talos_controller.yaml" />
<env name="PYTHONPATH" value="/opt/pal/dubnium/lib/python2.7/dist-packages:/opt/ros/indigo/lib/python2.7/dist-packages:/opt/openrobots/lib/python2.7/dist-packages:/opt/openrobots/lib/python2.7/site-packages" />
......
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