Update PIDs values for the real robot

talos_roscontrol_sot_talos/config/sot_talos_params_effort.yaml

@@ -11,115 +11,115 @@ sot_controller:
   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: 1000.0
-	  d_gain: 1000.0
+	  p_gain: 0.0
+	  d_gain: 0.0
 	  des_pos: 0.0
 	- name: leg_left_2_joint
-	  p_gain: 1000.0
-	  d_gain: 1000.0
+	  p_gain: 0.0
+	  d_gain: 0.0
 	  des_pos: 0.0
 	- name: leg_left_3_joint
-	  p_gain: 1000.0
-	  d_gain: 1000.0
+	  p_gain: 0.0
+	  d_gain: 0.0
 	  des_pos: 0.0
 	- name: leg_left_4_joint
-	  p_gain: 1000.0
-	  d_gain: 1000.0
+	  p_gain: 0.0
+	  d_gain: 0.0
 	  des_pos: 0.0
 	- name: leg_left_5_joint
-	  p_gain: 1000.0
-	  d_gain: 1000.0
+	  p_gain: 0.0
+	  d_gain: 0.0
 	  des_pos: 0.0
 	- name: leg_left_6_joint
-	  p_gain: 1000.0
-	  d_gain: 1000.0
+	  p_gain: 0.0
+	  d_gain: 0.0
 	  des_pos: 0.0	  
 	- name: leg_right_1_joint
-	  p_gain: 1000.0
-	  d_gain: 1000.0
+	  p_gain: 0.0
+	  d_gain: 0.0
 	  des_pos: 0.0
 	- name: leg_right_2_joint
-	  p_gain: 1000.0
-	  d_gain: 1000.0
+	  p_gain: 0.0
+	  d_gain: 0.0
 	  des_pos: 0.0
 	- name: leg_right_3_joint
-	  p_gain: 1000.0
-	  d_gain: 1000.0
+	  p_gain: 0.0
+	  d_gain: 0.0
 	  des_pos: 0.0
 	- name: leg_right_4_joint
-	  p_gain: 1000.0
-	  d_gain: 1000.0
+	  p_gain: 0.0
+	  d_gain: 0.0
 	  des_pos: 0.0
 	- name: leg_right_5_joint
-	  p_gain: 1000.0
-	  d_gain: 1000.0
+	  p_gain: 0.0
+	  d_gain: 0.0
 	  des_pos: 0.0
 	- name: leg_right_6_joint
-	  p_gain: 1000.0
-	  d_gain: 1000.0
+	  p_gain: 0.0
+	  d_gain: 0.0
 	  des_pos: 0.0	  
 	- name: torso_1_joint
-	  p_gain: 1000.0
-	  d_gain: 1000.0
+	  p_gain: 0.0
+	  d_gain: 0.0
 	  des_pos: 0.0
 	- name: torso_2_joint
-	  p_gain: 1000.0
-	  d_gain: 1000.0
+	  p_gain: 0.0
+	  d_gain: 0.0
 	  des_pos: 0.0
 	- name: arm_left_1_joint
-	  p_gain: 1000.0
-	  d_gain: 1000.0
+	  p_gain: 0.0
+	  d_gain: 0.0
 	  des_pos: 0.0
 	- name: arm_left_2_joint
-	  p_gain: 1000.0
-	  d_gain: 1000.0
+	  p_gain: 0.0
+	  d_gain: 0.0
 	  des_pos: 0.0
 	- name: arm_left_3_joint
-	  p_gain: 1000.0
-	  d_gain: 1000.0
+	  p_gain: 0.0
+	  d_gain: 0.0
 	  des_pos: 0.0
 	- name: arm_left_4_joint
-	  p_gain: 1000.0
-	  d_gain: 1000.0
+	  p_gain: 0.0
+	  d_gain: 0.0
 	  des_pos: 0.0
 	- name: arm_left_5_joint
-	  p_gain: 1000.0
-	  d_gain: 1000.0
+	  p_gain: 0.0
+	  d_gain: 0.0
 	  des_pos: 0.0
 	- name: arm_left_6_joint
-	  p_gain: 1000.0
-	  d_gain: 1000.0
+	  p_gain: 0.0
+	  d_gain: 0.0
 	  des_pos: 0.0
 	- name: arm_left_7_joint
-	  p_gain: 1000.0
-	  d_gain: 1000.0
+	  p_gain: 0.0
+	  d_gain: 0.0
 	  des_pos: 0.0	  
 	- name: arm_right_1_joint
-	  p_gain: 1000.0
-	  d_gain: 1000.0
+	  p_gain: 0.0
+	  d_gain: 0.0
 	  des_pos: 0.0
 	- name: arm_right_2_joint
-	  p_gain: 1000.0
-	  d_gain: 1000.0
+	  p_gain: 0.0
+	  d_gain: 0.0
 	  des_pos: 0.0
 	- name: arm_right_3_joint
-	  p_gain: 1000.0
-	  d_gain: 1000.0
+	  p_gain: 0.0
+	  d_gain: 0.0
 	  des_pos: 0.0
 	- name: arm_right_4_joint
-	  p_gain: 1000.0
-	  d_gain: 1000.0
+	  p_gain: 0.0
+	  d_gain: 0.0
 	  des_pos: 0.0
 	- name: arm_right_5_joint
-	  p_gain: 1000.0
-	  d_gain: 1000.0
+	  p_gain: 0.0
+	  d_gain: 0.0
 	  des_pos: 0.0
 	- name: arm_right_6_joint
-	  p_gain: 1000.0
-	  d_gain: 1000.0
+	  p_gain: 0.0
+	  d_gain: 0.0
 	  des_pos: 0.0	  
 	- name: arm_right_7_joint
-	  p_gain: 1000.0
-	  d_gain: 1000.0
+	  p_gain: 0.0
+	  d_gain: 0.0
 	  des_pos: 0.0	  
   control_mode: EFFORT