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talos-metapkg-ros-control-sot
Commits
f3465df9
Commit
f3465df9
authored
Jul 19, 2018
by
Olivier Stasse
Browse files
For starting the effort part we switch to gains.
parent
abdb87a0
Changes
2
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roscontrol_sot_talos/config/pids_effort.yaml
0 → 100644
View file @
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_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
roscontrol_sot_talos/launch/sot_talos_controller_effort.launch
View file @
f3465df9
...
...
@@ -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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