From f9a21cc1146b9802c61ed77570b61920ecc80a1b Mon Sep 17 00:00:00 2001
From: Ugo Pattacini <ugo.pattacini@iit.it>
Date: Mon, 26 Jun 2023 14:14:51 +0200
Subject: [PATCH] Update gazebo_icub_torso.ini

Tuned-up PID gains for torso
---
 simmechanics/data/icub2_5/conf/gazebo_icub_torso.ini | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/simmechanics/data/icub2_5/conf/gazebo_icub_torso.ini b/simmechanics/data/icub2_5/conf/gazebo_icub_torso.ini
index d351ffb..a734fd3 100644
--- a/simmechanics/data/icub2_5/conf/gazebo_icub_torso.ini
+++ b/simmechanics/data/icub2_5/conf/gazebo_icub_torso.ini
@@ -15,8 +15,8 @@ max_damping   100.0  100.0  100.0
 [POSITION_CONTROL]
 controlUnits  metric_units
 controlLaw    joint_pid_gazebo_v1
-kp            1.745 1.745 1.745
-kd            0.174 0.174 0.174
+kp            1.745 20.0 20.0
+kd            1.0   0.174 0.174
 ki            0.174 0.174 0.174
 maxInt        9999  9999  9999
 maxOutput     9999  9999  9999