From 60278716cf62343886c7c0c9cc4eee80f2211e3f Mon Sep 17 00:00:00 2001 From: Miguel Prada Date: Mon, 29 Aug 2016 10:35:33 +0200 Subject: [PATCH] Remove unused PID gain parameters from controller configuration. --- config/ur10_controllers.yaml | 8 -------- config/ur3_controllers.yaml | 8 -------- config/ur5_controllers.yaml | 8 -------- 3 files changed, 24 deletions(-) diff --git a/config/ur10_controllers.yaml b/config/ur10_controllers.yaml index 19e0394..eb9134b 100644 --- a/config/ur10_controllers.yaml +++ b/config/ur10_controllers.yaml @@ -45,14 +45,6 @@ pos_based_pos_traj_controller: stop_trajectory_duration: 0.5 state_publish_rate: 125 action_monitor_rate: 10 - gains: - #!!These values have not been optimized!! - shoulder_pan_joint: {p: 2.0, i: 0.0, d: 0.01, i_clamp: 1} - shoulder_lift_joint: {p: 2.0, i: 0.0, d: 0.01, i_clamp: 1} - elbow_joint: {p: 2.0, i: 0.0, d: 0.01, i_clamp: 1} - wrist_1_joint: {p: 2.0, i: 0.0, d: 0.01, i_clamp: 1} - wrist_2_joint: {p: 2.0, i: 0.0, d: 0.01, i_clamp: 1} - wrist_3_joint: {p: 2.0, i: 0.0, d: 0.01, i_clamp: 1} # state_publish_rate: 50 # Defaults to 50 # action_monitor_rate: 20 # Defaults to 20 diff --git a/config/ur3_controllers.yaml b/config/ur3_controllers.yaml index 8e26689..e0187e9 100644 --- a/config/ur3_controllers.yaml +++ b/config/ur3_controllers.yaml @@ -47,14 +47,6 @@ position_based_position_trajectory_controller: stop_trajectory_duration: 0.5 state_publish_rate: 125 action_monitor_rate: 10 - gains: - #!!These values have not been optimized!! - shoulder_pan_joint: {p: 2.0, i: 0.0, d: 0.01, i_clamp: 1} - shoulder_lift_joint: {p: 2.0, i: 0.0, d: 0.01, i_clamp: 1} - elbow_joint: {p: 2.0, i: 0.0, d: 0.01, i_clamp: 1} - wrist_1_joint: {p: 2.0, i: 0.0, d: 0.01, i_clamp: 1} - wrist_2_joint: {p: 2.0, i: 0.0, d: 0.01, i_clamp: 1} - wrist_3_joint: {p: 2.0, i: 0.0, d: 0.01, i_clamp: 1} # state_publish_rate: 50 # Defaults to 50 # action_monitor_rate: 20 # Defaults to 20 diff --git a/config/ur5_controllers.yaml b/config/ur5_controllers.yaml index bcfe680..a6c4569 100644 --- a/config/ur5_controllers.yaml +++ b/config/ur5_controllers.yaml @@ -45,14 +45,6 @@ pos_based_pos_traj_controller: stop_trajectory_duration: 0.5 state_publish_rate: 125 action_monitor_rate: 10 - gains: - #!!These values have not been optimized!! - shoulder_pan_joint: {p: 2.0, i: 0.0, d: 0.01, i_clamp: 1} - shoulder_lift_joint: {p: 2.0, i: 0.0, d: 0.01, i_clamp: 1} - elbow_joint: {p: 2.0, i: 0.0, d: 0.01, i_clamp: 1} - wrist_1_joint: {p: 2.0, i: 0.0, d: 0.01, i_clamp: 1} - wrist_2_joint: {p: 2.0, i: 0.0, d: 0.01, i_clamp: 1} - wrist_3_joint: {p: 2.0, i: 0.0, d: 0.01, i_clamp: 1} # state_publish_rate: 50 # Defaults to 50 # action_monitor_rate: 20 # Defaults to 20