sot-talos-balance  2.0.5
Collection of dynamic-graph entities aimed at implementing balance control on talos.
balance_ctrl_sim_conf.py
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1 from math import sqrt
2 
3 from balance_ctrl_conf import * # noqa
4 
5 # CONTROLLER GAINS
6 kp_posture = NJ * (400.0,) # noqa
7 kd_posture = NJ * (sqrt(kp_posture[0]),) # noqa
8 kd_constr = 0.0 * 2 * sqrt(kp_constr) # noqa
9 # constraint derivative feedback gain
10 kd_com = 0.0 * 2 * sqrt(kp_com) # noqa
11 kd_feet = 0.0 * 2 * sqrt(kp_feet) # noqa