Commit b0bc7f1c authored by Laia Freixas Mateu's avatar Laia Freixas Mateu
Browse files

modified dexter.yaml

parent 324c8164
......@@ -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
Supports Markdown
0% or .
You are about to add 0 people to the discussion. Proceed with caution.
Finish editing this message first!
Please register or to comment