[Beetle] modified gains for wrench comp

sugihara-16 · Dec 15, 2023 · 3c2cc92 · 3c2cc92
1 parent a2a7442
commit 3c2cc92
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Showing 2 changed files with 8 additions and 4 deletions.
diff --git a/robots/beetle/config/BeetleControl.yaml b/robots/beetle/config/BeetleControl.yaml
@@ -9,7 +9,6 @@ controller:
   momentum_observer_torque_weight: 2.5
   wrench_estimate_flag: true
   comp_term_update_freq: 40
-  wrench_comp_gain: 0.2
 
   pd_wrench_comp_mode: true
 
@@ -21,6 +20,10 @@ controller:
   cutoff_freq: 1.0
   sample_freq: 40.0
 
+  wrench_comp:
+    p_gain: 0.1
+    d_gain: 0.07
+    i_gain: 0.008
   xy:
     p_gain: 10.0
     i_gain: 0.2

diff --git a/robots/beetle/config/BeetleControl_sim.yaml b/robots/beetle/config/BeetleControl_sim.yaml
@@ -10,9 +10,6 @@ controller:
   momentum_observer_torque_weight: 2.5
   wrench_estimate_flag: true
   comp_term_update_freq: 40
-  wrench_comp_p_gain: 0.05
-  wrench_comp_d_gain: 0.02
-  wrench_comp_i_gain: 0.002
 
   pd_wrench_comp_mode: true
 
@@ -23,6 +20,10 @@ controller:
   cutoff_freq: 1.0
   sample_freq: 40.0
 
+  wrench_comp:
+    p_gain: 0.1
+    d_gain: 0.07
+    i_gain: 0.008
   xy:
     p_gain: 1.5
     i_gain: 0.05