[ergoCubSN000] Low level joint position and wbd @500Hz #445
Conversation
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
… and increase the low level Position gains for the ankles
* [ergoCubSN000] Fix style in left_leg-calib.xml * [ergoCubSN000] Clean legs torque controll gains * [ergoCubSN000] Update legs calibrators * [ergoCubSN000] Update right leg calibrattors * adjusted rigt hip yaw calibration * increased pwm limits in motor control * additional fine calibration on the legs hip yaw, and ankle joints --------- Co-authored-by: icub <icub@iit.it>
pattacini
approved these changes
Feb 27, 2023
pattacini
requested review from
sgiraz,
marcoaccame,
davidetome and
Nicogene
Nicogene
approved these changes
Feb 27, 2023
|
Merging anyway to speed up. |
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
Add this suggestion to a batch that can be applied as a single commit.
This suggestion is invalid because no changes were made to the code.
Suggestions cannot be applied while the pull request is closed.
Suggestions cannot be applied while viewing a subset of changes.
Only one suggestion per line can be applied in a batch.
Add this suggestion to a batch that can be applied as a single commit.
Applying suggestions on deleted lines is not supported.
You must change the existing code in this line in order to create a valid suggestion.
Outdated suggestions cannot be applied.
This suggestion has been applied or marked resolved.
Suggestions cannot be applied from pending reviews.
Suggestions cannot be applied on multi-line comments.
Suggestions cannot be applied while the pull request is queued to merge.
Suggestion cannot be applied right now. Please check back later.
This PR tunes the low-level position gains and calibrates the joint's position.
Moreover, in 34cd5b4 we increased the low-level frequency (now WBD runs at 500Hz)
We tested the parameters with the walking-controller and we were able to run several successful experiments
cc @lrapetti @mebbaid