Fine-tuned the controller for Gazebo

francisc0garcia · Nov 18, 2016 · 9108a88 · 9108a88
1 parent 08c66e2
commit 9108a88
Showing 1 changed file with 1 addition and 1 deletion.
diff --git a/src/robot_controller_LQR_V1.py b/src/robot_controller_LQR_V1.py
@@ -160,7 +160,7 @@ def update_controller(self):
          #             (0, 1.6286, 0, 0, 2.6639, 0) ] )
         #k_dr = np.array(  [(  -2.27/20 , -0, -155.1, -6.6/70,  0, 37.9), # cont
          #                                (0, -0.3088, 0, 0, -0.55, 0) ] )
-        k_dr = np.array(  [(  -1.4*11 , -0, -194.5*1.5, -5.82*6.5,  0, -49.3/1.95), # cont for gazebo
+        k_dr = np.array(  [(  -1.4*11.5 , -0, -194.5*1.5, -5.82*7,  0, -49.3/1.9), # cont for gazebo
                          (0, -0.3088, 0, 0, -0.55, 0) ] )