From 7d6668f7391901e9f1f0039c20733eec731fc68f Mon Sep 17 00:00:00 2001
From: Johannes Mey <johannes.mey@tu-dresden.de>
Date: Sun, 23 Aug 2020 22:56:44 +0200
Subject: [PATCH] add gains for all joints and switch fingers to effort
controller
---
config/panda_control.yaml | 17 ++++++++++++++++-
1 file changed, 16 insertions(+), 1 deletion(-)
diff --git a/config/panda_control.yaml b/config/panda_control.yaml
index 65fcaf7..b837064 100644
--- a/config/panda_control.yaml
+++ b/config/panda_control.yaml
@@ -5,6 +5,7 @@
position_joint_trajectory_controller:
type: position_controllers/JointTrajectoryController
+# type: effort_controllers/JointTrajectoryController
joints:
- panda_joint1
- panda_joint2
@@ -17,14 +18,28 @@
constraints:
goal_time: 2.0
+ gains:
+ panda_joint1: { p: 12000, d: 50, i: 0.0, i_clamp: 10000 }
+ panda_joint2: { p: 30000, d: 100, i: 0.02, i_clamp: 10000 }
+ panda_joint3: { p: 18000, d: 50, i: 0.01, i_clamp: 1 }
+ panda_joint4: { p: 18000, d: 70, i: 0.01, i_clamp: 10000 }
+ panda_joint5: { p: 12000, d: 70, i: 0.01, i_clamp: 1 }
+ panda_joint6: { p: 7000, d: 50, i: 0.01, i_clamp: 1 }
+ panda_joint7: { p: 2000, d: 20, i: 0.0, i_clamp: 1 }
+
state_publish_rate: 100
panda_hand_controller:
- type: position_controllers/JointTrajectoryController
+# type: position_controllers/JointTrajectoryController
+ type: effort_controllers/JointTrajectoryController
joints:
- panda_finger_joint1
- panda_finger_joint2
+ gains:
+ panda_finger_joint1: { p: 5, d: 3.0, i: 0, i_clamp: 1 }
+ panda_finger_joint2: { p: 5, d: 1.0, i: 0, i_clamp: 1 }
+
state_publish_rate: 25
joint_position_controller:
--
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