Merge pull request #5 from sleong1/simulation_that_works

Switch to velocity controllers to overcome bug from position controllers
awesomebytes · Jan 18, 2019 · e3ce91e · e3ce91e
2 parents dd497b6 + c1297ea
commit e3ce91e
Showing 1 changed file with 73 additions and 73 deletions.
diff --git a/pepper_control/config/pepper_trajectory_control.yaml b/pepper_control/config/pepper_trajectory_control.yaml
@@ -5,33 +5,33 @@ pepper:
     publish_rate: 50  
 
   # Controllers ------------------------------------------------
-  LeftArm_controller:
-    type: position_controllers/JointTrajectoryController
-    joints:
-      - LShoulderPitch
-      - LShoulderRoll
-      - LElbowYaw
-      - LElbowRoll
-      - LWristYaw
-  RightArm_controller:
-    type: position_controllers/JointTrajectoryController
-    joints:
-      - RShoulderPitch
-      - RShoulderRoll
-      - RElbowYaw
-      - RElbowRoll
-      - RWristYaw
-  Head_controller:
-    type: position_controllers/JointTrajectoryController
-    joints:
-      - HeadYaw
-      - HeadPitch
-  Pelvis_controller:
-    type: position_controllers/JointTrajectoryController
-    joints:
-      - HipRoll
-      - HipPitch
-      - KneePitch
+  # LeftArm_controller:
+  #   type: position_controllers/JointTrajectoryController
+  #   joints:
+  #     - LShoulderPitch
+  #     - LShoulderRoll
+  #     - LElbowYaw
+  #     - LElbowRoll
+  #     - LWristYaw
+  # RightArm_controller:
+  #   type: position_controllers/JointTrajectoryController
+  #   joints:
+  #     - RShoulderPitch
+  #     - RShoulderRoll
+  #     - RElbowYaw
+  #     - RElbowRoll
+  #     - RWristYaw
+  # Head_controller:
+  #   type: position_controllers/JointTrajectoryController
+  #   joints:
+  #     - HeadYaw
+  #     - HeadPitch
+  # Pelvis_controller:
+  #   type: position_controllers/JointTrajectoryController
+  #   joints:
+  #     - HipRoll
+  #     - HipPitch
+  #     - KneePitch
   # LeftHand_controller:
   #   type: position_controllers/JointTrajectoryController
   #   joints:
@@ -75,51 +75,51 @@ pepper:
 
 
 
-  # LeftArm_controller:
-  #   type: velocity_controllers/JointTrajectoryController
-  #   joints:
-  #     - LShoulderPitch
-  #     - LShoulderRoll
-  #     - LElbowYaw
-  #     - LElbowRoll
-  #     - LWristYaw
-  #   gains:
-  #     LShoulderPitch: {p: 1000.0, i: 0.01, d: 10.0}
-  #     LShoulderRoll: {p: 1000.0, i: 0.01, d: 10.0}
-  #     LElbowYaw: {p: 1000.0, i: 0.01, d: 10.0}
-  #     LElbowRoll: {p: 1000.0, i: 0.01, d: 10.0}
-  #     LWristYaw: {p: 1000.0, i: 0.01, d: 10.0}
-  # RightArm_controller:
-  #   type: velocity_controllers/JointTrajectoryController
-  #   joints:
-  #     - RShoulderPitch
-  #     - RShoulderRoll
-  #     - RElbowYaw
-  #     - RElbowRoll
-  #     - RWristYaw
-  #   gains:
-  #     RShoulderPitch: {p: 1000.0, i: 0.01, d: 10.0}
-  #     RShoulderRoll: {p: 1000.0, i: 0.01, d: 10.0}
-  #     RElbowYaw: {p: 1000.0, i: 0.01, d: 10.0}
-  #     RElbowRoll: {p: 1000.0, i: 0.01, d: 10.0}
-  #     RWristYaw: {p: 1000.0, i: 0.01, d: 10.0}
-  # Head_controller:
-  #   type: velocity_controllers/JointTrajectoryController
-  #   joints:
-  #     - HeadYaw
-  #     - HeadPitch
-  #   gains:
-  #     HeadYaw: {p: 1000.0, i: 0.01, d: 10.0}
-  #     HeadPitch: {p: 1000.0, i: 0.01, d: 10.0}
-  # Pelvis_controller:
-  #   type: velocity_controllers/JointTrajectoryController
-  #   joints:
-  #     - HipRoll
-  #     - HipPitch
-  #     - KneePitch
-  #   gains:
-  #     HipRoll: {p: 1000.0, i: 0.01, d: 10.0}
-  #     HipPitch: {p: 1000.0, i: 0.01, d: 10.0}
-  #     KneePitch: {p: 1000.0, i: 0.01, d: 10.0}
+  LeftArm_controller:
+    type: velocity_controllers/JointTrajectoryController
+    joints:
+      - LShoulderPitch
+      - LShoulderRoll
+      - LElbowYaw
+      - LElbowRoll
+      - LWristYaw
+    gains:
+      LShoulderPitch: {p: 1000.0, i: 0.01, d: 10.0}
+      LShoulderRoll: {p: 1000.0, i: 0.01, d: 10.0}
+      LElbowYaw: {p: 1000.0, i: 0.01, d: 10.0}
+      LElbowRoll: {p: 1000.0, i: 0.01, d: 10.0}
+      LWristYaw: {p: 1000.0, i: 0.01, d: 10.0}
+  RightArm_controller:
+    type: velocity_controllers/JointTrajectoryController
+    joints:
+      - RShoulderPitch
+      - RShoulderRoll
+      - RElbowYaw
+      - RElbowRoll
+      - RWristYaw
+    gains:
+      RShoulderPitch: {p: 1000.0, i: 0.01, d: 10.0}
+      RShoulderRoll: {p: 1000.0, i: 0.01, d: 10.0}
+      RElbowYaw: {p: 1000.0, i: 0.01, d: 10.0}
+      RElbowRoll: {p: 1000.0, i: 0.01, d: 10.0}
+      RWristYaw: {p: 1000.0, i: 0.01, d: 10.0}
+  Head_controller:
+    type: velocity_controllers/JointTrajectoryController
+    joints:
+      - HeadYaw
+      - HeadPitch
+    gains:
+      HeadYaw: {p: 1000.0, i: 0.01, d: 10.0}
+      HeadPitch: {p: 1000.0, i: 0.01, d: 10.0}
+  Pelvis_controller:
+    type: velocity_controllers/JointTrajectoryController
+    joints:
+      - HipRoll
+      - HipPitch
+      - KneePitch
+    gains:
+      HipRoll: {p: 1000.0, i: 0.01, d: 10.0}
+      HipPitch: {p: 1000.0, i: 0.01, d: 10.0}
+      KneePitch: {p: 1000.0, i: 0.01, d: 10.0}