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edwardGains.xml
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edwardGains.xml
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<?xml version="1.0" encoding="utf-8"?>
<group_gains>
<control_strategy>3 3 3 3 3 3 3 3 3 3 3 3 3</control_strategy>
<position>
<kp>0.5 0.5 0.5 3 3 2 2 1 1 2 2 1 1</kp>
<ki>0 0 0 0 0 0 0 0 0 0 0 0 0</ki>
<kd>0 0 0 0 0 0 0 0 0 0 0 0 0</kd>
<feed_forward>0 0 0 0 0 0 0 0 0 0 0 0 0</feed_forward>
<dead_zone>0 0 0 0 0 0 0 0 0 0 0 0 0</dead_zone>
<i_clamp>0.25 0.25 0.25 0.25 0.25 0.25 0.25 0.25 0.25 0.25 0.25 0.25 0.25</i_clamp>
<punch>0 0 0 0 0 0 0 0 0 0 0 0 0</punch>
<min_target>-inf -inf -inf -inf -inf -inf -inf -inf -inf -inf -inf -inf -inf</min_target>
<max_target>inf inf inf inf inf inf inf inf inf inf inf inf inf</max_target>
<target_lowpass>1 1 1 1 1 1 1 1 1 1 1 1 1</target_lowpass>
<min_output>-1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1</min_output>
<max_output>1 1 1 1 1 1 1 1 1 1 1 1 1</max_output>
<output_lowpass>1 1 1 1 1 1 1 1 1 1 1 1 1</output_lowpass>
<d_on_error>1 1 1 1 1 1 1 1 1 1 1 1 1</d_on_error>
</position>
<velocity>
<kp>0.05 0.05 0.05 0.2 0.05 0.1 0.1 0.1 0.05 0.1 0.1 0.1 0.05</kp>
<ki>0 0 0 0 0 0 0 0 0 0 0 0 0</ki>
<kd>0 0 0 0 0 0 0 0 0 0 0 0 0</kd>
<feed_forward>1 1 1 1 1 1 1 1 1 1 1 1 1</feed_forward>
<dead_zone>0.05 0.05 0.05 0 0 0 0 0 0 0 0 0 0</dead_zone>
<i_clamp>0.25 0.25 0.25 0.25 0.25 0.25 0.25 0.25 0.25 0.25 0.25 0.25 0.25</i_clamp>
<punch>0 0 0 0 0 0 0 0 0 0 0 0 0</punch>
<min_target>-9.617128 -9.617128 -9.617128 -1.790422 -1.790422 -1.502675 -1.502675 -3.434687 -3.434687 -1.502675 -1.502675 -3.434687 -3.434687</min_target>
<max_target>9.617128 9.617128 9.617128 1.790422 1.790422 1.502675 1.502675 3.434687 3.434687 1.502675 1.502675 3.434687 3.434687</max_target>
<target_lowpass>1 1 1 1 1 1 1 1 1 1 1 1 1</target_lowpass>
<min_output>-1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1</min_output>
<max_output>1 1 1 1 1 1 1 1 1 1 1 1 1</max_output>
<output_lowpass>0.75 0.75 0.75 0.75 0.75 0.75 0.75 0.75 0.75 0.75 0.75 0.75 0.75</output_lowpass>
<d_on_error>1 1 1 1 1 1 1 1 1 1 1 1 1</d_on_error>
</velocity>
<effort>
<kp>0.5 0.5 0.5 0.025 0.1 0.25 0.1 0.25 0.25 0.25 0.1 0.25 0.25</kp>
<ki>0 0 0 0 0 0 0 0 0 0 0 0 0</ki>
<kd>0.001 0.001 0.001 0.001 0.0001 0 0.001 0.001 0.001 0 0.001 0.001 0.001</kd>
<feed_forward>1 1 1 1 1 1 1 1 1 1 1 1 1</feed_forward>
<dead_zone>0 0 0 0 0 0 0 0 0 0 0 0 0</dead_zone>
<i_clamp>0.25 0.25 0.25 0.25 0.25 0.25 0.25 0.25 0.25 0.25 0.25 0.25 0.25</i_clamp>
<punch>-0 -0 -0 -0 -0 -0 -0 -0 -0 -0 -0 -0 -0</punch>
<min_target>-4 -4 -4 -40 -40 -20 -20 -10 -10 -20 -20 -10 -10</min_target>
<max_target>4 4 4 40 40 20 20 10 10 20 20 10 10</max_target>
<target_lowpass>1 1 1 1 1 1 1 1 1 1 1 1 1</target_lowpass>
<min_output>-1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1</min_output>
<max_output>1 1 1 1 1 1 1 1 1 1 1 1 1</max_output>
<output_lowpass>0.9 0.9 0.9 0.9 0.9 0.9 0.9 0.9 0.9 0.9 0.9 0.9 0.9</output_lowpass>
<d_on_error>0 0 0 0 0 0 0 0 0 0 0 0 0</d_on_error>
</effort>
</group_gains>