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demo_panda_controller.yaml
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# Default controller gains for Franka Panda
panda_controller:
Real:
EEImpedance:
kp: [100, 100, 100, 60.0, 60.0, 60.0] #70 #50 #200 #75 #200 # P Gain for Impedance Control
kv: [20.0, 20.0, 20.0, 10.0, 10.0, 10.0]
damping: 1.0 #1 #0.5 #1 #0.5 # Damping factor [0,1]
input_max: 1.0
input_min: -1.0
output_max: 1.0
output_min: -1.0
JointVelocity:
kv: 10.0 #0.5
input_max: 1.0
input_min: -1.0
output_max: 1.0 #1.0
output_min: -1.0 #-1.0
JointImpedance:
kp: [300.0, 300.0, 300.0, 300.0, 250.0, 150.0, 150.0] #[70.0, 70.0, 60.0, 60.0, 50.0, 50.0, 20.0] #[100.0, 100.0, 80.0, 80.0, 70.0, 70.0, 50.0]
kv: [20.0, 20.0, 20.0, 20.0, 15.0, 12.0, 15.0]
damping: 1.0
input_max: 1.0
input_min: -1.0
output_max: 1.0
output_min: -1.0
JointTorque:
input_max: 1.0
input_min: -1.0
output_max: 1.0
output_min: -1.0
EEPosture:
kp: [100, 100, 100, 60.0, 60.0, 60.0] #70 #50 #200 #75 #200 # P Gain for Impedance Control
kv: [20.0, 20.0, 20.0, 10.0, 10.0, 10.0]
damping: 1.0 #1 #0.5 #1 #0.5 # Damping factor [0,1]
posture_gain: [5.0, 5.0, 5.0, 4.0, 3.0, 3.0, 3.0] #[7.0, 7.0, 7.0, 6.0, 5.0, 5.0, 5.0] #0.7
input_max: 1.0
input_min: -1.0
output_max: 1.0
output_min: -1.0
interpolator_pos:
type: 'linear'
order: 1
max_dx: 0.2
ramp_ratio: 0.2
interpolator_ori:
type: 'linear'
fraction: 0.2
Bullet:
EEImpedance:
kp: [100, 100, 100, 60.0, 60.0, 60.0] #70 #50 #200 #75 #200 # P Gain for Impedance Control
kv: [20.0, 20.0, 20.0, 10.0, 10.0, 10.0]
damping: 1.0 #1 #0.5 #1 #0.5 # Damping factor [0,1]
input_max: 1.0
input_min: -1.0
output_max: 1.0
output_min: -1.0
JointVelocity:
kv: 10.0 #0.5
input_max: 1.0
input_min: -1.0
output_max: 1.0 #1.0
output_min: -1.0 #-1.0
JointImpedance:
kp: [300.0, 300.0, 300.0, 300.0, 250.0, 150.0, 150.0] #[70.0, 70.0, 60.0, 60.0, 50.0, 50.0, 20.0] #[100.0, 100.0, 80.0, 80.0, 70.0, 70.0, 50.0]
kv: [20.0, 20.0, 20.0, 20.0, 15.0, 12.0, 15.0]
damping: 1.0
input_max: 1.0
input_min: -1.0
output_max: 1.0
output_min: -1.0
JointTorque:
input_max: 1.0
input_min: -1.0
output_max: 5.0
output_min: -5.0
EEPosture:
kp: [100, 100, 100, 60.0, 60.0, 60.0] #70 #50 #200 #75 #200 # P Gain for Impedance Control
kv: [20.0, 20.0, 20.0, 10.0, 10.0, 10.0]
damping: 1.0 #1 #0.5 #1 #0.5 # Damping factor [0,1]
posture_gain: [5.0, 5.0, 5.0, 4.0, 3.0, 3.0, 3.0] #[7.0, 7.0, 7.0, 6.0, 5.0, 5.0, 5.0] #0.7
input_max: 1.0
input_min: -1.0
output_max: 1.0
output_min: -1.0
interpolator_pos:
type: 'linear'
order: 1
max_dx: 0.2
ramp_ratio: 0.2
interpolator_ori:
type: 'linear'
fraction: 0.2