From c9d423520b7c379cc02a92365d4913b973a386ad Mon Sep 17 00:00:00 2001 From: Walter Fetter Lages Date: Mon, 6 May 2019 02:44:49 -0300 Subject: [PATCH] Fix gains for thumb controllers. --- miitzhand_bringup/config/miitzhand.yaml | 10 +++++----- miitzhand_description/urdf/miitzhand.urdf | 4 ---- 2 files changed, 5 insertions(+), 9 deletions(-) diff --git a/miitzhand_bringup/config/miitzhand.yaml b/miitzhand_bringup/config/miitzhand.yaml index 72636e8..2961601 100644 --- a/miitzhand_bringup/config/miitzhand.yaml +++ b/miitzhand_bringup/config/miitzhand.yaml @@ -7,12 +7,12 @@ miitzhand: thumb1_controller: type: effort_controllers/JointPositionController joint: thumb_j1 - pid: {p: 2.92, i: 16.70, d: 0.0, i_clamp: 1.96, antiwindup: true} + pid: {p: 29.4, i: 1640, d: 0.0, i_clamp: 1.96, antiwindup: true} thumb2_controller: type: effort_controllers/JointPositionController joint: thumb_j2 - pid: {p: 2.92, i: 16.70, d: 0.0, i_clamp: 1.96, antiwindup: true} + pid: {p: 29.2, i: 1680, d: 0.0, i_clamp: 1.96, antiwindup: true} index_controller: type: effort_controllers/JointPositionController @@ -22,14 +22,14 @@ miitzhand: middle_controller: type: effort_controllers/JointPositionController joint: middle_j1 - pid: {p: 2.92, i: 16.70, d: 0.0, i_clamp: 1.96, antiwindup: true} + pid: {p: 29.2, i: 1670, d: 0.0, i_clamp: 1.96, antiwindup: true} ring_controller: type: effort_controllers/JointPositionController joint: ring_j1 - pid: {p: 2.92, i: 16.70, d: 0.0, i_clamp: 1.96, antiwindup: true} + pid: {p: 29.2, i: 1670, d: 0.0, i_clamp: 1.96, antiwindup: true} little_controller: type: effort_controllers/JointPositionController joint: little_j1 - pid: {p: 2.92, i: 16.70, d: 0.0, i_clamp: 1.96, antiwindup: true} + pid: {p: 29.2, i: 1670, d: 0.0, i_clamp: 1.96, antiwindup: true} diff --git a/miitzhand_description/urdf/miitzhand.urdf b/miitzhand_description/urdf/miitzhand.urdf index 17a233c..33c2261 100644 --- a/miitzhand_description/urdf/miitzhand.urdf +++ b/miitzhand_description/urdf/miitzhand.urdf @@ -552,11 +552,7 @@ - - - -- 2.12.0