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gazebo_icub_torso.ini
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gazebo_icub_torso.ini
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disableImplicitNetworkWrapper
yarpDeviceName torso_hardware_device
jointNames torso_yaw torso_pitch torso_roll
min_stiffness 0.0 0.0 0.0
max_stiffness 1000.0 1000.0 1000.0
min_damping 0.0 0.0 0.0
max_damping 100.0 100.0 100.0
[TRAJECTORY_GENERATION]
trajectory_type minimum_jerk
#PIDs:
# this information is used to set the PID values in simulation for GAZEBO, we need only the first three values
[POSITION_CONTROL]
controlUnits metric_units
controlLaw joint_pid_gazebo_v1
kp 70.0 70.0 70.0
kd 0.15 0.15 0.15
ki 0.17 0.17 0.17
maxInt 9999 9999 9999
maxOutput 9999 9999 9999
shift 0.0 0.0 0.0
ko 0.0 0.0 0.0
stictionUp 0.0 0.0 0.0
stictionDwn 0.0 0.0 0.0
[VELOCITY_CONTROL]
velocityControlImplementationType integrator_and_position_pid
controlUnits metric_units
controlLaw joint_pid_gazebo_v1
kp 8.726 8.726 8.726
kd 0.035 0.035 0.035
ki 0.002 0.002 0.002
maxInt 9999 9999 9999
maxOutput 9999 9999 9999
shift 0.0 0.0 0.0
ko 0.0 0.0 0.0
stictionUp 0.0 0.0 0.0
stictionDwn 0.0 0.0 0.0
[IMPEDANCE_CONTROL]
controlUnits metric_units
controlLaw joint_pid_gazebo_v1
stiffness 0.0 0.0 0.0
damping 0.0 0.0 0.0
[LIMITS]
jntPosMax 43.0 45.0 23.0
jntPosMin -43.0 -18.0 -23.0
jntVelMax 100.0 100.0 100.0