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fix: fix dual panda motion generator PID gains bug #236

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merged 1 commit into from
Apr 25, 2022
Merged

fix: fix dual panda motion generator PID gains bug #236

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1 change: 1 addition & 0 deletions CHANGELOG.md
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Original file line number Diff line number Diff line change
Expand Up @@ -6,6 +6,7 @@
* `franka_example_controllers`: Extend the `teleop_joint_pd_example_controller` with joint walls to actively avoid position or velocity limit violations.
* `franka_control`: Configurable `arm_id` in launch & config files
* `franka_description`: URDF now contains `$(arm_id)_linkN_sc` links containing the capsule collision modules used for self-collision avoidance (MoveIt).
* `franka_gazebo`: Fix motion generator config respects `arm_id`

## 0.9.0 - 2022-03-29

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28 changes: 14 additions & 14 deletions franka_gazebo/config/franka_hw_sim.yaml
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Expand Up @@ -16,19 +16,19 @@ franka_gripper:
motion_generators:
position:
gains:
panda_joint1: { p: 600, d: 30, i: 0 }
panda_joint2: { p: 600, d: 30, i: 0 }
panda_joint3: { p: 600, d: 30, i: 0 }
panda_joint4: { p: 600, d: 30, i: 0 }
panda_joint5: { p: 250, d: 10, i: 0 }
panda_joint6: { p: 150, d: 10, i: 0 }
panda_joint7: { p: 50, d: 5, i: 0 }
$(arg arm_id)_joint1: { p: 600, d: 30, i: 0 }
$(arg arm_id)_joint2: { p: 600, d: 30, i: 0 }
$(arg arm_id)_joint3: { p: 600, d: 30, i: 0 }
$(arg arm_id)_joint4: { p: 600, d: 30, i: 0 }
$(arg arm_id)_joint5: { p: 250, d: 10, i: 0 }
$(arg arm_id)_joint6: { p: 150, d: 10, i: 0 }
$(arg arm_id)_joint7: { p: 50, d: 5, i: 0 }
velocity:
gains:
panda_joint1: { p: 30, d: 0, i: 0 }
panda_joint2: { p: 30, d: 0, i: 0 }
panda_joint3: { p: 30, d: 0, i: 0 }
panda_joint4: { p: 30, d: 0, i: 0 }
panda_joint5: { p: 10, d: 0, i: 0 }
panda_joint6: { p: 10, d: 0, i: 0 }
panda_joint7: { p: 5, d: 0, i: 0 }
$(arg arm_id)_joint1: { p: 30, d: 0, i: 0 }
$(arg arm_id)_joint2: { p: 30, d: 0, i: 0 }
$(arg arm_id)_joint3: { p: 30, d: 0, i: 0 }
$(arg arm_id)_joint4: { p: 30, d: 0, i: 0 }
$(arg arm_id)_joint5: { p: 10, d: 0, i: 0 }
$(arg arm_id)_joint6: { p: 10, d: 0, i: 0 }
$(arg arm_id)_joint7: { p: 5, d: 0, i: 0 }