From c2bfd5ae802d248d536d573cedf36ee22abeb0d2 Mon Sep 17 00:00:00 2001
From: Olivier Stasse <ostasse@laas.fr>
Date: Mon, 26 Feb 2018 15:34:37 +0100
Subject: [PATCH] Update PIDs values for the real robot
---
.../config/sot_talos_params_effort.yaml | 112 +++++++++---------
1 file changed, 56 insertions(+), 56 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 a0396e0..b0df471 100644
--- a/talos_roscontrol_sot_talos/config/sot_talos_params_effort.yaml
+++ b/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
--
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