modified dexter.yaml

bioloid_control/config/dexter.yaml

@@ -6,9 +6,12 @@ bioloid:
 
   bioloid_cm510_cont:
     type: effort_controllers/BioloidControllerCM510
-    adc1_frame: IR1_link
+    exp_adc8_frame: IR1_link
+    exp_adc7_frame: IRL1_link
     adc3_frame: gyro_x
     adc4_frame: gyro_y
+    exp_adc1_frame: IR2_link
+    exp_adc8_frame: IR3_link
     exp_board_id: 192
     exp_gpio0_frame: left_front_fwd_ir_link
     exp_gpio1_frame: left_front_dwn_ir_link
@@ -37,146 +40,92 @@ bioloid:
       - j_ankle_roll_l
     gains:
       j_shoulder_l:
-        p: 8.0
-        d: 0.0
-        i: 0.0
-        proxy:
-          lambda: 3.0
-          vel_limit: 6.0
-          effort_limit: 1.5
+        punch: 32
+        margin: 1
+        slope: 32
+        max_torque: 1.5
       j_high_arm_l:
-        p: 8.0
-        d: 0.0
-        i: 0.0
-        proxy:
-          lambda: 3.0
-          vel_limit: 6.0
-          effort_limit: 1.5
+        punch: 32
+        margin: 1
+        slope: 32
+        max_torque: 1.5
       j_low_arm_l:
-        p: 8.0
-        d: 0.0
-        i: 0.0
-        proxy:
-          lambda: 3.0
-          vel_limit: 6.0
-          effort_limit: 1.5
+        punch: 32
+        margin: 1
+        slope: 32
+        max_torque: 1.5
       j_shoulder_r:
-        p: 8.0
-        d: 0.0
-        i: 0.0
-        proxy:
-          lambda: 3.0
-          vel_limit: 6.0
-          effort_limit: 1.5
+        punch: 32
+        margin: 1
+        slope: 32
+        max_torque: 1.5
       j_high_arm_r:
-        p: 8.0
-        d: 0.0
-        i: 0.0
-        proxy:
-          lambda: 3.0
-          vel_limit: 6.0
-          effort_limit: 1.5
+        punch: 32
+        margin: 1
+        slope: 32
+        max_torque: 1.5
       j_low_arm_r:
-        p: 8.0
-        d: 0.0
-        i: 0.0
-        proxy:
-          lambda: 3.0
-          vel_limit: 6.0
-          effort_limit: 1.5
+        punch: 32
+        margin: 1
+        slope: 32
+        max_torque: 1.5
       j_pelvis_yaw_l:
-        p: 8.0
-        d: 0.0
-        i: 0.0
-        proxy:
-          lambda: 3.0
-          vel_limit: 6.0
-          effort_limit: 1.5
+        punch: 32
+        margin: 1
+        slope: 32
+        max_torque: 1.5
       j_pelvis_roll_l:
-        p: 8.0
-        d: 0.0
-        i: 0.0
-        proxy:
-          lambda: 3.0
-          vel_limit: 6.0
-          effort_limit: 1.5
+        punch: 32
+        margin: 1
+        slope: 32
+        max_torque: 1.5
       j_pelvis_pitch_l:
-        p: 8.0
-        d: 0.0
-        i: 0.0
-        proxy:
-          lambda: 3.0
-          vel_limit: 6.0
-          effort_limit: 1.5
+        punch: 32
+        margin: 1
+        slope: 32
+        max_torque: 1.5
       j_knee_l:
-        p: 8.0
-        d: 0.0
-        i: 0.0
-        proxy:
-          lambda: 3.0
-          vel_limit: 6.0
-          effort_limit: 1.5
+        punch: 32
+        margin: 1
+        slope: 32
+        max_torque: 1.5
       j_ankle_pitch_l:
-        p: 8.0
-        d: 0.0
-        i: 0.0
-        proxy:
-          lambda: 3.0
-          vel_limit: 6.0
-          effort_limit: 1.5
+        punch: 32
+        margin: 1
+        slope: 32
+        max_torque: 1.5
       j_ankle_roll_l:
-        p: 8.0
-        d: 0.0
-        i: 0.0
-        proxy:
-          lambda: 3.0
-          vel_limit: 6.0
-          effort_limit: 1.5
+        punch: 32
+        margin: 1
+        slope: 32
+        max_torque: 1.5
       j_pelvis_yaw_r:
-        p: 8.0
-        d: 0.0
-        i: 0.0
-        proxy:
-          lambda: 3.0
-          vel_limit: 6.0
-          effort_limit: 1.5
+        punch: 32
+        margin: 1
+        slope: 32
+        max_torque: 1.5
       j_pelvis_roll_r:
-        p: 8.0
-        d: 0.0
-        i: 0.0
-        proxy:
-          lambda: 3.0
-          vel_limit: 6.0
-          effort_limit: 1.5
+        punch: 32
+        margin: 1
+        slope: 32
+        max_torque: 1.5
       j_pelvis_pitch_r:
-        p: 8.0
-        d: 0.0
-        i: 0.0
-        proxy:
-          lambda: 3.0
-          vel_limit: 6.0
-          effort_limit: 1.5
+        punch: 32
+        margin: 1
+        slope: 32
+        max_torque: 1.5
       j_knee_r:
-        p: 8.0
-        d: 0.0
-        i: 0.0
-        proxy:
-          lambda: 3.0
-          vel_limit: 6.0
-          effort_limit: 1.5
+        punch: 32
+        margin: 1
+        slope: 32
+        max_torque: 1.5
       j_ankle_pitch_r:
-        p: 8.0
-        d: 0.0
-        i: 0.0
-        proxy:
-          lambda: 3.0
-          vel_limit: 6.0
-          effort_limit: 1.5
+        punch: 32
+        margin: 1
+        slope: 32
+        max_torque: 1.5
       j_ankle_roll_r:
-        p: 8.0
-        d: 0.0
-        i: 0.0
-        proxy:
-          lambda: 3.0
-          vel_limit: 6.0
-          effort_limit: 1.5
+        punch: 32
+        margin: 1
+        slope: 32
+        max_torque: 1.5