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new pid vals for torso in walking simulations #126

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new pid vals for torso in walking simulations #126

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6 changes: 3 additions & 3 deletions iCub/conf_icub3/gazebo_icub_torso.ini
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Original file line number Diff line number Diff line change
Expand Up @@ -37,9 +37,9 @@ max_damping 100.0 100.0 100.0
[POSITION_CONTROL]
controlUnits metric_units
controlLaw joint_pid_gazebo_v1
kp 40.0 40.0 40.0
kd 0.35 0.35 0.35
ki 0.35 0.35 0.35
kp 30.0 30.0 30.0
kd 0.2 0.2 0.2
ki 0.2 0.2 0.2
maxInt 9999 9999 9999
maxOutput 9999 9999 9999
shift 0.0 0.0 0.0
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