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Commit 353c6d9f authored by Olivier Stasse's avatar Olivier Stasse
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Fix parameters based on robot feedback.

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talos_roscontrol_sot_talos/config/sot_talos_params_effort.yaml
+ 130
− 114
View file @ 353c6d9f
......@@ -9,117 +9,133 @@ 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
effort_control_pd_motor_init:
- name: leg_left_1_joint
p_gain: 100.0
d_gain: 0.0
des_pos: 0.0
- name: leg_left_2_joint
p_gain: 120.0
d_gain: 0.0
des_pos: 0.0
- name: leg_left_3_joint
p_gain: 100.0
d_gain: 0.0
des_pos: -0.411354
- name: leg_left_4_joint
p_gain: 130.0
d_gain: 0.0
des_pos: 0.859395
- name: leg_left_5_joint
p_gain: 75.0
d_gain: 0.0
des_pos: -0.448041
- name: leg_left_6_joint
p_gain: 75.0
d_gain: 0.0
des_pos: -0.001708
- name: leg_right_1_joint
p_gain: 100.0
d_gain: 0.0
des_pos: 0.0
- name: leg_right_2_joint
p_gain: 120.0
d_gain: 0.0
des_pos: 0.0
- name: leg_right_3_joint
p_gain: 100.0
d_gain: 0.0
des_pos: -0.411354
- name: leg_right_4_joint
p_gain: 130.0
d_gain: 0.0
des_pos: 0.859395
- name: leg_right_5_joint
p_gain: 75.0
d_gain: 0.0
des_pos: -0.448041
- name: leg_right_6_joint
p_gain: 75.0
d_gain: 0.0
des_pos: -0.001708
- name: torso_1_joint
p_gain: 30.0
d_gain: 0.0
des_pos: 0.0
- name: torso_2_joint
p_gain: 30.0
d_gain: 0.0
des_pos: 0.006761
- name: arm_left_1_joint
p_gain: 20.0
d_gain: 0.0
des_pos: 0.25847
- name: arm_left_2_joint
p_gain: 100.0
d_gain: 0.0
des_pos: 0.173046
- name: arm_left_3_joint
p_gain: 50.0
d_gain: 0.0
des_pos: 0.0002
- name: arm_left_4_joint
p_gain: 50.0
d_gain: 0.0
des_pos: -0.525366
- name: arm_left_5_joint
p_gain: 50.0
d_gain: 0.0
des_pos: 0.0
- name: arm_left_6_joint
p_gain: 30.0
d_gain: 0.0
des_pos: 0.1
- name: arm_left_7_joint
p_gain: 30.0
d_gain: 0.0
des_pos: 0.1
- name: gripper_left_joint
p_gain: 0.002
d_gain: 0.0
des_pos: -0.005
- name: arm_right_1_joint
p_gain: 20.0
d_gain: 0.0
des_pos: -0.25847
- name: arm_right_2_joint
p_gain: 100.0
d_gain: 0.0
des_pos: -0.173046
- name: arm_right_3_joint
p_gain: 50.0
d_gain: 0.0
des_pos: 0.0002
- name: arm_right_4_joint
p_gain: 50.0
d_gain: 0.0
des_pos: -0.525366
- name: arm_right_5_joint
p_gain: 50.0
d_gain: 0.0
des_pos: 0.0
- name: arm_right_6_joint
p_gain: 30.0
d_gain: 0.0
des_pos: 0.1
- name: arm_right_7_joint
p_gain: 30.0
d_gain: 0.0
des_pos: 0.1
- name: gripper_right_joint
p_gain: 0.002
d_gain: 0.0
des_pos: -0.005
- name: head_1_joint
p_gain: 1.0
d_gain: 0.0
des_pos:: 0.0
- name: head_2_joint
p_gain: 1.0
d_gain: 0.0
des_pos:: 0.0
control_mode: EFFORT
talos_roscontrol_sot_talos/launch/sot_talos_controller_effort.launch
+ 2
− 0
View file @ 353c6d9f
......@@ -3,7 +3,9 @@
<!-- Sot Controller configuration -->
<rosparam command="load" file="$(find talos_roscontrol_sot_talos)/config/sot_talos_params_effort.yaml"/>
<rosparam command="load" file="$(find talos_roscontrol_sot_talos)/config/sot_talos_controller.yaml" />
<rosparam command="load" file="$(find talos_roscontrol_sot_talos)/config/pids.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" />
<!-- Spawn walking controller -->
<node name="sot_controller_spawner"
pkg="controller_manager" type="spawner" output="screen"
......
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