From 4532ecba0fd08497ebcbedb0f8ddf4ae5bf47c06 Mon Sep 17 00:00:00 2001 From: iCubGenova09 Date: Tue, 19 Jul 2022 13:44:27 +0000 Subject: [PATCH] Change knee low level PID --- .../app/robots/iCubGenova09/dcm_walking/common/pidParams.ini | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/src/WalkingModule/app/robots/iCubGenova09/dcm_walking/common/pidParams.ini b/src/WalkingModule/app/robots/iCubGenova09/dcm_walking/common/pidParams.ini index b9aa6bb0..fe6023c1 100644 --- a/src/WalkingModule/app/robots/iCubGenova09/dcm_walking/common/pidParams.ini +++ b/src/WalkingModule/app/robots/iCubGenova09/dcm_walking/common/pidParams.ini @@ -15,8 +15,8 @@ useGainScheduling 0 [DEFAULT] #NAME P I D #torso_pitch 5.0 1.0 0.5 -l_knee -25000.0 -1000.0 0.0 -r_knee 25000.0 1000.0 0.0 +l_knee -30000.0 -1000.0 0.0 +r_knee 30000.0 1000.0 0.0 l_ankle_pitch -15000.0 -1000.0 0.0 r_ankle_pitch 15000.0 1000.0 0.0 l_ankle_roll -8000.0 -1000.0 0.0