sot-talos-balance  2.0.5
Collection of dynamic-graph entities aimed at implementing balance control on talos.
admittance_ctrl_conf.py
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1 kp_force = 6 * (0.0,)
2 ki_force = 6 * (0.0,)
3 kp_vel = 32 * (0.0,)
4 ki_vel = 32 * (0.0,)
5 force_integral_saturation = (0.0, 0.0, 160.0, 20.0, 20.0, 0.0)
6 force_integral_deadzone = (5.0, 5.0, 5.0, 0.5, 0.5, 0.5)