From d58a2494db131788e40ff6e6fc9ab85f08ff7904 Mon Sep 17 00:00:00 2001
From: Olivier Stasse <ostasse@laas.fr>
Date: Mon, 26 Feb 2018 15:33:00 +0100
Subject: [PATCH] Set PID to zero between the time the system switch to effort
control and start the dynamic_graph.
---
.../config/sot_talos_params_effort.yaml | 113 ++++++++++++++++++
1 file changed, 113 insertions(+)
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 9bd89c7..b0df471 100644
--- a/talos_roscontrol_sot_talos/config/sot_talos_params_effort.yaml
+++ b/talos_roscontrol_sot_talos/config/sot_talos_params_effort.yaml
@@ -9,4 +9,117 @@ 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
--
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