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Update torso PID gains of icub2.5 #241

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merged 1 commit into from
Jun 26, 2023
Merged

Update torso PID gains of icub2.5 #241

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4 changes: 2 additions & 2 deletions simmechanics/data/icub2_5/conf/gazebo_icub_torso.ini
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Original file line number Diff line number Diff line change
Expand Up @@ -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
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