[Ninja][config] modified gain of morphing motion

sugihara-16 · Sep 21, 2024 · 880f988 · 880f988
1 parent 933ebad
commit 880f988
Showing 1 changed file with 5 additions and 1 deletion.
diff --git a/robots/ninja/config/NinjaControl_sim.yaml b/robots/ninja/config/NinjaControl_sim.yaml
@@ -25,7 +25,11 @@ controller:
   wrench_comp:
     p_gain: 0.1
     d_gain: 0.07
-    i_gain: 0.00
+    i_gain: 0.01
+  joint_pid:
+    p_gain: 0.2
+    d_gain: 0.1
+    i_gain: 0.01
   xy:
     p_gain: 1.5
     i_gain: 0.05