Update walking params for jack (#591)

bit-bots · Jul 20, 2024 · d872c3e · d872c3e
2 parents bbc87f5 + 7f039ad
commit d872c3e
Showing 1 changed file with 7 additions and 3 deletions.
diff --git a/bitbots_motion/bitbots_quintic_walk/config/robots/jack.yaml b/bitbots_motion/bitbots_quintic_walk/config/robots/jack.yaml
@@ -3,9 +3,13 @@
 walking:
   ros__parameters:
     engine:
-      trunk_x_offset: 0.0
-      trunk_y_offset: -0.01
-
+      trunk_x_offset: 0.01
+      trunk_y_offset: 0.0
     node:
       x_bias: -0.005
       y_bias: -0.008
+      trunk_pid:
+        pitch:
+          p: 0.0
+          i: 0.0
+          d: 0.0