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JointFeedBackGain_msg
-
File:
thormang3_walking_module_msgs/JointFeedBackGain.msg -
Message Definition
float32 r_leg_hip_y_p_gain float32 r_leg_hip_r_p_gain float32 r_leg_hip_p_p_gain float32 r_leg_kn_p_p_gain float32 r_leg_an_p_p_gain float32 r_leg_an_r_p_gain float32 l_leg_hip_y_p_gain float32 l_leg_hip_r_p_gain float32 l_leg_hip_p_p_gain float32 l_leg_kn_p_p_gain float32 l_leg_an_p_p_gain float32 l_leg_an_r_p_gain float32 r_leg_hip_y_d_gain float32 r_leg_hip_r_d_gain float32 r_leg_hip_p_d_gain float32 r_leg_kn_p_d_gain float32 r_leg_an_p_d_gain float32 r_leg_an_r_d_gain float32 l_leg_hip_y_d_gain float32 l_leg_hip_r_d_gain float32 l_leg_hip_p_d_gain float32 l_leg_kn_p_d_gain float32 l_leg_an_p_d_gain float32 l_leg_an_r_d_gain -
Description
These are the parameters used for improving trajectory following of leg.
PD Control is used, therefore, PD gains for each joints are declared in this message file. - P Gain
- ` float32 r_leg_hip_y_p_gain` P Gain for right hip yaw joint
- ` float32 r_leg_hip_r_p_gain` P Gain for right hip roll joint
- ` float32 r_leg_hip_p_p_gain` P Gain for right hip pitch joint
- ` float32 r_leg_kn_p_p_gain` P Gain for right knee pitch joint
- ` float32 r_leg_an_p_p_gain` P Gain for right ankle pitch joint
- ` float32 r_leg_an_r_p_gain` P Gain for right ankle roll joint
- ` float32 l_leg_hip_y_p_gain` P Gain for left hip yaw joint
- ` float32 l_leg_hip_r_p_gain` P Gain for left hip roll joint
- ` float32 l_leg_hip_p_p_gain` P Gain for left hip pitch joint
- ` float32 l_leg_kn_p_p_gain` P Gain for left knee pitch joint
- ` float32 l_leg_an_p_p_gain` P Gain for left angkle pitch joint
- ` float32 l_leg_an_r_p_gain` P Gain for left angkle roll joint
- D Gain
- ` float32 r_leg_hip_y_d_gain` D Gain for right hip yaw joint
- ` float32 r_leg_hip_r_d_gain` D Gain for right hip roll joint
- ` float32 r_leg_hip_p_d_gain` D Gain for right hip pitch joint
- ` float32 r_leg_kn_p_d_gain` D Gain for right knee pitch joint
- ` float32 r_leg_an_p_d_gain` D Gain for right ankle pitch joint
- ` float32 r_leg_an_r_d_gain` D Gain for right ankle roll joint
- ` float32 l_leg_hip_y_d_gain` D Gain for left hip yaw joint
- ` float32 l_leg_hip_r_d_gain` D Gain for left hip roll joint
- ` float32 l_leg_hip_p_d_gain` D Gain for left hip pitch joint
- ` float32 l_leg_kn_p_d_gain` D Gain for left knee pitch joint
- ` float32 l_leg_an_p_d_gain` D Gain for left angkle pitch joint
- ` float32 l_leg_an_r_d_gain` D Gain for left angkle roll joint