From b0bc7f1c6f6b28f422d6ff5f470befa843a72eca Mon Sep 17 00:00:00 2001 From: lfreixas <lfreixas@iri.upc.edu> Date: Tue, 14 Jun 2016 12:30:15 +0200 Subject: [PATCH] modified dexter.yaml --- bioloid_control/config/dexter.yaml | 203 +++++++++++------------------ 1 file changed, 76 insertions(+), 127 deletions(-) diff --git a/bioloid_control/config/dexter.yaml b/bioloid_control/config/dexter.yaml index 65dca31..d008e03 100644 --- a/bioloid_control/config/dexter.yaml +++ b/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 -- GitLab