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Commit 7d6668f7 authored by Johannes Mey's avatar Johannes Mey
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add gains for all joints and switch fingers to effort controller

parent cabb18c9
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......@@ -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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