From 353c6d9f870bf7b589d346f2235cb95d78dff10b Mon Sep 17 00:00:00 2001
From: Olivier Stasse <ostasse@laas.fr>
Date: Fri, 9 Mar 2018 09:54:14 +0100
Subject: [PATCH] Fix parameters based on robot feedback.
---
.../config/sot_talos_params_effort.yaml | 244 ++++++++++--------
.../launch/sot_talos_controller_effort.launch | 2 +
2 files changed, 132 insertions(+), 114 deletions(-)
diff --git a/talos_roscontrol_sot_talos/config/sot_talos_params_effort.yaml b/talos_roscontrol_sot_talos/config/sot_talos_params_effort.yaml
index b0df471..4eaa7e5 100644
--- a/talos_roscontrol_sot_talos/config/sot_talos_params_effort.yaml
+++ b/talos_roscontrol_sot_talos/config/sot_talos_params_effort.yaml
@@ -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
diff --git a/talos_roscontrol_sot_talos/launch/sot_talos_controller_effort.launch b/talos_roscontrol_sot_talos/launch/sot_talos_controller_effort.launch
index 7343f9e..3930105 100644
--- a/talos_roscontrol_sot_talos/launch/sot_talos_controller_effort.launch
+++ b/talos_roscontrol_sot_talos/launch/sot_talos_controller_effort.launch
@@ -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"
--
GitLab