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sh_ffj0_position_controller:
joint: FFJ0
pid:
d: 0.0
deadband: 0
friction_deadband: 65535.0
i: 0.0
i_clamp: 1500.0
max_force: 600.0
p: 5150.0
position_deadband: 0.005
type: sr_mechanism_controllers/SrhJointPositionController
sh_ffj3_position_controller:
joint: FFJ3
pid:
d: 500.0
deadband: 0.0
friction_deadband: 65535.0
i: 300.0
i_clamp: 220.0
max_force: 700.0
p: 6500.0
position_deadband: 0.005
type: sr_mechanism_controllers/SrhJointPositionController
sh_ffj4_position_controller:
joint: FFJ4
pid:
d: -300.0
deadband: 0.02
friction_deadband: 65535.0
i: -200.0
i_clamp: 300.0
max_force: 600.0
p: -5500.0
position_deadband: 0.005
type: sr_mechanism_controllers/SrhJointPositionController
sh_lfj0_position_controller:
joint: LFJ0
pid:
d: 0.0
friction_deadband: 65535.0
i: 0.0
i_clamp: 1500.0
max_force: 600.0
p: -4150.0
position_deadband: 0.005
type: sr_mechanism_controllers/SrhJointPositionController
sh_lfj3_position_controller:
joint: LFJ3
pid:
d: -500.0
deadband: 0.0
friction_deadband: 65535.0
i: -300.0
i_clamp: 220.0
max_force: 700.0
p: -7000.0
position_deadband: 0.005
type: sr_mechanism_controllers/SrhJointPositionController
sh_lfj4_position_controller:
joint: LFJ4
pid:
d: 300.0
deadband: 0
friction_deadband: 65535.0
i: 200.0
i_clamp: 300.0
max_force: 600.0
p: 5000.0
position_deadband: 0.005
type: sr_mechanism_controllers/SrhJointPositionController
sh_lfj5_position_controller:
joint: LFJ5
pid:
d: -300.0
deadband: 0.0
friction_deadband: 65535.0
i: -300.0
i_clamp: 200.0
max_force: 600.0
p: -7400.0
position_deadband: 0.003
type: sr_mechanism_controllers/SrhJointPositionController
sh_mfj0_position_controller:
joint: MFJ0
pid:
d: 0.0
friction_deadband: 65535.0
i: 0.0
i_clamp: 1500.0
max_force: 600.0
p: 4150.0
position_deadband: 0.005
type: sr_mechanism_controllers/SrhJointPositionController
sh_mfj3_position_controller:
joint: MFJ3
pid:
d: 500.0
deadband: 0.0
friction_deadband: 65535.0
i: 300.0
i_clamp: 220.0
max_force: 700.0
p: 6500.0
position_deadband: 0.005
type: sr_mechanism_controllers/SrhJointPositionController
sh_mfj4_position_controller:
joint: MFJ4
pid:
d: -300.0
deadband: 0
friction_deadband: 65535.0
i: -200.0
i_clamp: 300.0
max_force: 600.0
p: -5500.0
position_deadband: 0.005
type: sr_mechanism_controllers/SrhJointPositionController
sh_rfj0_position_controller:
joint: RFJ0
pid:
d: 0.0
friction_deadband: 65535.0
i: 0.0
i_clamp: 1500.0
max_force: 600.0
p: -4150.0
position_deadband: 0.005
type: sr_mechanism_controllers/SrhJointPositionController
sh_rfj3_position_controller:
joint: RFJ3
pid:
d: -500.0
deadband: 0.0
friction_deadband: 65535.0
i: -300.0
i_clamp: 220.0
max_force: 700.0
p: -8000.0
position_deadband: 0.005
type: sr_mechanism_controllers/SrhJointPositionController
sh_rfj4_position_controller:
joint: RFJ4
pid:
d: -300.0
deadband: 0.0
friction_deadband: 65535.0
i: -200.0
i_clamp: 300.0
max_force: 600.0
p: -6000.0
position_deadband: 0.005
type: sr_mechanism_controllers/SrhJointPositionController
sh_thj1_position_controller:
joint: THJ1
pid:
d: 350.0
deadband: 0.0
friction_deadband: 65535.0
i: 200.0
i_clamp: 200.0
max_force: 600.0
p: 5500.0
position_deadband: 0.005
type: sr_mechanism_controllers/SrhJointPositionController
sh_thj2_position_controller:
joint: THJ2
pid:
d: 360.0
deadband: 0.0
friction_deadband: 65535.0
i: 300.0
i_clamp: 220.0
max_force: 600.0
p: 8300.0
position_deadband: 0.005
type: sr_mechanism_controllers/SrhJointPositionController
sh_thj3_position_controller:
joint: THJ3
pid:
d: 400.0
deadband: 0.0
friction_deadband: 65535.0
i: 400.0
i_clamp: 200.0
max_force: 600.0
p: 7000.0
position_deadband: 0.003
type: sr_mechanism_controllers/SrhJointPositionController
sh_thj4_position_controller:
joint: THJ4
pid:
d: -400.0
deadband: 0.0
friction_deadband: 65535.0
i: -300.0
i_clamp: 200.0
max_force: 800.0
p: -6800.0
position_deadband: 0.005
type: sr_mechanism_controllers/SrhJointPositionController
sh_thj5_position_controller:
joint: THJ5
pid:
d: 400.0
deadband: 0.0
friction_deadband: 65535.0
i: 300.0
i_clamp: 200.0
max_force: 800.0
p: 6000.0
position_deadband: 0.005
type: sr_mechanism_controllers/SrhJointPositionController
sh_wrj1_position_controller:
joint: WRJ1
pid:
d: 400.0
deadband: 0.0
friction_deadband: 65534.0
i: 400.0
i_clamp: 200.0
max_force: 900.0
p: 10000.0
position_deadband: 0.005
type: sr_mechanism_controllers/SrhJointPositionController
sh_wrj2_position_controller:
joint: WRJ2
pid:
d: -400.0
deadband: 0.0
friction_deadband: 65535.0
i: -400.0
i_clamp: 200.0
max_force: 900.0
p: -11000.0
position_deadband: 0.005
type: sr_mechanism_controllers/SrhJointPositionController
|