Configure hand joints to use the 'integrator_and_position_pid' veloci…

…ty control mode and provide tuning for the 'direct_velocity_pid' mode
icub-tech-iit · May 23, 2023 · 6d9950b · 6d9950b
1 parent c44a354
commit 6d9950b
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Showing 2 changed files with 10 additions and 10 deletions.
diff --git a/urdf/simmechanics/data/ergocub/conf/gazebo_ergocub_left_hand.ini b/urdf/simmechanics/data/ergocub/conf/gazebo_ergocub_left_hand.ini
@@ -27,12 +27,12 @@ stictionUp   0     0     0     0     0     0     0     0     0     0     0     0
 stictionDwn  0     0     0     0     0     0     0     0     0     0     0     0
 
 [VELOCITY_CONTROL]
-controlUnits  metric_units
-controlLaw    joint_pid_gazebo_v1
-velocityControlImplementationType direct_velocity_pid
-kp           20.0  20.0  20.0  20.0  20.0  20.0  20.0  20.0  20.0  20.0  20.0  20.0
+controlUnits metric_units
+controlLaw   joint_pid_gazebo_v1
+velocityControlImplementationType integrator_and_position_pid
+kp           0.01  0.01  0.01  0.01  0.01  0.01  0.01  0.01  0.01  0.01  0.01  0.01
 kd           0.0   0.0   0.0   0.0   0.0   0.0   0.0   0.0   0.0   0.0   0.0   0.0
-ki           0.01  0.01   0.01 0.01  0.01  0.01  0.01  0.01  0.01  0.01  0.01  0.01
+ki           0.0   0.0   0.0   0.0   0.0   0.0   0.0   0.0   0.0   0.0   0.0   0.0
 maxInt       9999  9999  9999  9999  9999  9999  9999  9999  9999  9999  9999  9999
 maxOutput    9999  9999  9999  9999  9999  9999  9999  9999  9999  9999  9999  9999
 shift        0     0     0     0     0     0     0     0     0     0     0     0

diff --git a/urdf/simmechanics/data/ergocub/conf/gazebo_ergocub_right_hand.ini b/urdf/simmechanics/data/ergocub/conf/gazebo_ergocub_right_hand.ini
@@ -27,12 +27,12 @@ stictionUp   0     0     0     0     0     0     0     0     0     0     0     0
 stictionDwn  0     0     0     0     0     0     0     0     0     0     0     0
 
 [VELOCITY_CONTROL]
-controlUnits  metric_units
-controlLaw    joint_pid_gazebo_v1
-velocityControlImplementationType direct_velocity_pid
-kp           20.0  20.0  20.0  20.0  20.0  20.0  20.0  20.0  20.0  20.0  20.0  20.0
+controlUnits metric_units
+controlLaw   joint_pid_gazebo_v1
+velocityControlImplementationType integrator_and_position_pid
+kp           0.01  0.01  0.01  0.01  0.01  0.01  0.01  0.01  0.01  0.01  0.01  0.01
 kd           0.0   0.0   0.0   0.0   0.0   0.0   0.0   0.0   0.0   0.0   0.0   0.0
-ki           0.01  0.01   0.01 0.01  0.01  0.01  0.01  0.01  0.01  0.01  0.01  0.01
+ki           0.0   0.0   0.0   0.0   0.0   0.0   0.0   0.0   0.0   0.0   0.0   0.0
 maxInt       9999  9999  9999  9999  9999  9999  9999  9999  9999  9999  9999  9999
 maxOutput    9999  9999  9999  9999  9999  9999  9999  9999  9999  9999  9999  9999
 shift        0     0     0     0     0     0     0     0     0     0     0     0