Merge pull request #20 from HebiRobotics/dave/gains-updates

Updated effort gains and velocity target limits.
HebiRobotics · Jan 16, 2025 · d587685 · d587685
2 parents 318226c + b12e708
commit d587685
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Showing 16 changed files with 53 additions and 53 deletions.
diff --git a/arms/config/gains/A-2084-01.xml b/arms/config/gains/A-2084-01.xml
@@ -25,8 +25,8 @@
     <dead_zone>0 0 0 0</dead_zone>
     <i_clamp>0.25 0.25 0.25 0.25</i_clamp>
     <punch>0 0 0 0</punch>
-    <min_target>-1.502675 -1.502675 -3.434687 -9.617128</min_target>
-    <max_target>1.502675 1.502675 3.434687 9.617128</max_target>
+    <min_target>-3.4 -1.5 -3.4 -9.6</min_target>
+    <max_target>3.4 1.5 3.4 9.6</max_target>
     <target_lowpass>1 1 1 1</target_lowpass>
     <min_output>-1 -1 -1 -1</min_output>
     <max_output>1 1 1 1</max_output>

diff --git a/arms/config/gains/A-2085-03.xml b/arms/config/gains/A-2085-03.xml
@@ -25,8 +25,8 @@
     <dead_zone>0 0 0</dead_zone>
     <i_clamp>0.25 0.25 0.25</i_clamp>
     <punch>0 0 0</punch>
-    <min_target>-1.502675 -1.502675 -3.434687</min_target>
-    <max_target>1.502675 1.502675 3.434687</max_target>
+    <min_target>-3.4 -1.5 -3.4</min_target>
+    <max_target>3.4 1.5 3.4</max_target>
     <target_lowpass>1 1 1</target_lowpass>
     <min_output>-1 -1 -1</min_output>
     <max_output>1 1 1</max_output>

diff --git a/arms/config/gains/A-2085-04.xml b/arms/config/gains/A-2085-04.xml
@@ -25,8 +25,8 @@
     <dead_zone>0 0 0 0</dead_zone>
     <i_clamp>0.25 0.25 0.25 0.25</i_clamp>
     <punch>0 0 0 0</punch>
-    <min_target>-1.502675 -1.502675 -3.434687 -9.617128</min_target>
-    <max_target>1.502675 1.502675 3.434687 9.617128</max_target>
+    <min_target>-3.4 -1.5 -3.4 -9.6</min_target>
+    <max_target>3.4 1.5 3.4 9.6</max_target>
     <target_lowpass>1 1 1 1</target_lowpass>
     <min_output>-1 -1 -1 -1</min_output>
     <max_output>1 1 1 1</max_output>

diff --git a/arms/config/gains/A-2085-05.xml b/arms/config/gains/A-2085-05.xml
@@ -25,8 +25,8 @@
     <dead_zone>0 0 0 0 0</dead_zone>
     <i_clamp>0.25 0.25 0.25 0.25 0.25</i_clamp>
     <punch>0 0 0 0 0</punch>
-    <min_target>-3.434687 -1.790422 -3.434687 -9.617128 -9.617128</min_target>
-    <max_target>3.434687 1.790422 3.434687 9.617128 9.617128</max_target>
+    <min_target>-3.4 -1.8 -3.4 -9.6 -9.6</min_target>
+    <max_target>3.4 1.8 3.4 9.6 9.6</max_target>
     <target_lowpass>1 1 1 1 1</target_lowpass>
     <min_output>-1 -1 -1 -1 -1</min_output>
     <max_output>1 1 1 1 1</max_output>

diff --git a/arms/config/gains/A-2085-06.xml b/arms/config/gains/A-2085-06.xml
@@ -25,8 +25,8 @@
     <dead_zone>0 0 0 0 0 0</dead_zone>
     <i_clamp>0.25 0.25 0.25 0.25 0.25 0.25</i_clamp>
     <punch>0 0 0 0 0 0</punch>
-    <min_target>-3.434687 -1.790422 -3.434687 -9.617128 -9.617128 -9.617128</min_target>
-    <max_target>3.434687 1.790422 3.434687 9.617128 9.617128 9.617128</max_target>
+    <min_target>-3.4 -1.8 -3.4 -9.6 -9.6 -9.6</min_target>
+    <max_target>3.4 1.8 3.4 9.6 9.6 9.6</max_target>
     <target_lowpass>1 1 1 1 1 1</target_lowpass>
     <min_output>-1 -1 -1 -1 -1 -1</min_output>
     <max_output>1 1 1 1 1 1</max_output>

diff --git a/arms/config/gains/A-2099-07.xml b/arms/config/gains/A-2099-07.xml
@@ -25,18 +25,18 @@
       <dead_zone>0 0 0 0 0 0 0</dead_zone>
       <i_clamp>0.25 0.25 0.25 0.25 0.25 0.25 0.25</i_clamp>
       <punch>0 0 0 0 0 0 0</punch>
-      <min_target>-3.434687 -1.790422 -3.434687 -3.434687 -9.617128 -9.617128 -9.617128</min_target>
-      <max_target>3.434687 1.790422 3.434687 3.434687 9.617128 9.617128 9.617128</max_target>
+      <min_target>-3.4 -1.8 -3.4 -3.4 -9.6 -9.6 -9.6</min_target>
+      <max_target>3.4 1.8 3.4 3.4 9.6 9.6 9.6</max_target>
       <target_lowpass>1 1 1 1 1 1 1</target_lowpass>
       <min_output>-1 -1 -1 -1 -1 -1 -1</min_output>
       <max_output>1 1 1 1 1 1 1</max_output>
       <output_lowpass>0.75 0.5 0.5 0.5 0.75 0.75 0.75</output_lowpass>
       <d_on_error>1 1 1 1 1 1 1</d_on_error>
    </velocity>
    <effort>
-      <kp>0.2 0.3 0.3 0.3 0.25 0.25 0.25</kp>
+      <kp>0.1 0.1 0.1 0.1 0.25 0.25 0.25</kp>
       <ki>0 0 0 0 0 0 0</ki>
-      <kd>0.0001 0.0001 0.0001 0.001 0.001 0.001 0.001</kd>
+      <kd>0.0001 0.0001 0.0001 0.0001 0.001 0.001 0.001</kd>
       <feed_forward>1 1 1 1 1 1 1</feed_forward>
       <dead_zone>0 0 0 0 0 0 0</dead_zone>
       <i_clamp>0.25 0.25 0.25 0.25 0.25 0.25 0.25</i_clamp>

diff --git a/arms/config/gains/A-2240-04.xml b/arms/config/gains/A-2240-04.xml
@@ -29,8 +29,8 @@
     <dead_zone>0 0 0 0</dead_zone>
     <i_clamp>0.25 0.25 0.25 0.25</i_clamp>
     <punch>0 0 0 0</punch>
-    <min_target>-1.790422 -1.790422 -1.790422 -9.617128</min_target>
-    <max_target>1.790422 1.790422 1.790422 9.617128</max_target>
+    <min_target>-1.8 -1.8 -1.8 -9.6</min_target>
+    <max_target>1.8 1.8 1.8 9.6</max_target>
     <target_lowpass>1 1 1 1</target_lowpass>
     <min_output>-1 -1 -1 -1</min_output>
     <max_output>1 1 1 1</max_output>
@@ -39,9 +39,9 @@
   </velocity>
 
   <effort>
-    <kp>0.25 0.25 0.25 0.25</kp>
+    <kp>0.1 0.1 0.1 0.1</kp>
     <ki>0 0 0 0</ki>
-    <kd>0.001 0.001 0.001 0.001</kd>
+    <kd>0.0001 0.0001 0.0001 0.0001</kd>
     <feed_forward>1 1 1 1</feed_forward>
     <dead_zone>0.1 0.1 0.1 0.05</dead_zone>
     <i_clamp>0.25 0.25 0.25 0.25</i_clamp>

diff --git a/arms/config/gains/A-2240-05.xml b/arms/config/gains/A-2240-05.xml
@@ -29,8 +29,8 @@
     <dead_zone>0 0 0 0 0</dead_zone>
     <i_clamp>0.25 0.25 0.25 0.25 0.25</i_clamp>
     <punch>0 0 0 0 0</punch>
-    <min_target>-1.790422 -1.790422 -1.790422 -3.434687 -9.617128</min_target>
-    <max_target>1.790422 1.790422 1.790422 3.434687 9.617128</max_target>
+    <min_target>-1.8 -1.8 -1.8 -9.6 -9.6</min_target>
+    <max_target>1.8 1.8 1.8 9.6 9.6</max_target>
     <target_lowpass>1 1 1 1 1</target_lowpass>
     <min_output>-1 -1 -1 -1 -1</min_output>
     <max_output>1 1 1 1 1</max_output>
@@ -39,9 +39,9 @@
   </velocity>
 
   <effort>
-    <kp>0.05 0.05 0.05 0.1 0.20</kp>
+    <kp>0.1 0.1 0.1 0.1 0.1</kp>
     <ki>0 0 0 0 0</ki>
-    <kd>0.0001 0.0001 0.0001 0.001 0.001</kd>
+    <kd>0.0001 0.0001 0.0001 0.0001 0.0001</kd>
     <feed_forward>1 1 1 1 1</feed_forward>
     <dead_zone>0.1 0.1 0.1 0.05 0.05</dead_zone>
     <i_clamp>0.25 0.25 0.25 0.25 0.25</i_clamp>

diff --git a/arms/config/gains/A-2240-06.xml b/arms/config/gains/A-2240-06.xml
@@ -29,8 +29,8 @@
     <dead_zone>0 0 0 0 0 0</dead_zone>
     <i_clamp>0.25 0.25 0.25 0.25 0.25 0.25</i_clamp>
     <punch>0 0 0 0 0 0</punch>
-    <min_target>-1.790422 -1.790422 -1.790422 -3.434687 -9.617128 -9.617128</min_target>
-    <max_target>1.790422 1.790422 1.790422 3.434687 9.617128 9.617128</max_target>
+    <min_target>-1.8 -1.8 -1.8 -9.6 -9.6 -9.6</min_target>
+    <max_target>1.8 1.8 1.8 9.6 9.6 9.6</max_target>
     <target_lowpass>1 1 1 1 1 1</target_lowpass>
     <min_output>-1 -1 -1 -1 -1 -1</min_output>
     <max_output>1 1 1 1 1 1</max_output>
@@ -39,9 +39,9 @@
   </velocity>
 
   <effort>
-    <kp>0.05 0.05 0.05 0.1 0.20 0.20</kp>
+    <kp>0.1 0.1 0.1 0.1 0.1 0.1</kp>
     <ki>0 0 0 0 0 0</ki>
-    <kd>0.0001 0.0001 0.0001 0.001 0.001 0.001</kd>
+    <kd>0.0001 0.0001 0.0001 0.0001 0.0001 0.0001</kd>
     <feed_forward>1 1 1 1 1 1</feed_forward>
     <dead_zone>0.1 0.1 0.1 0.05 0.05 0.05</dead_zone>
     <i_clamp>0.25 0.25 0.25 0.25 0.25 0.25</i_clamp>

diff --git a/arms/config/gains/A-2302-01.xml b/arms/config/gains/A-2302-01.xml
@@ -29,8 +29,8 @@
     <dead_zone>0 0 0 0</dead_zone>
     <i_clamp>0.25 0.25 0.25 0.25</i_clamp>
     <punch>0 0 0 0</punch>
-    <min_target>-1.790422 -1.790422 -1.790422 -9.617128</min_target>
-    <max_target>1.790422 1.790422 1.790422 9.617128</max_target>
+    <min_target>-3.4 -1.8 -9.6 -9.6</min_target>
+    <max_target>3.4 1.8 9.6 9.6</max_target>
     <target_lowpass>1 1 1 1</target_lowpass>
     <min_output>-1 -1 -1 -1</min_output>
     <max_output>1 1 1 1</max_output>
@@ -39,15 +39,15 @@
   </velocity>
 
   <effort>
-    <kp>0.25 0.25 0.25 0.25</kp>
+    <kp>0.1 0.1 0.1 0.1</kp>
     <ki>0 0 0 0</ki>
-    <kd>0.001 0.001 0.001 0.001</kd>
+    <kd>0.0001 0.0001 0.0001 0.0001</kd>
     <feed_forward>1 1 1 1</feed_forward>
     <dead_zone>0.1 0.1 0.1 0.05</dead_zone>
     <i_clamp>0.25 0.25 0.25 0.25</i_clamp>
     <punch>0 0 0 0</punch>
-    <min_target>-40 -40 -40 -5</min_target>
-    <max_target>40 40 40 5</max_target>
+    <min_target>-25 -40 -5 -5</min_target>
+    <max_target>25 40 5 5</max_target>
     <target_lowpass>1 1 1 1</target_lowpass>
     <min_output>-1 -1 -1 -1</min_output>
     <max_output>1 1 1 1</max_output>

diff --git a/arms/config/gains/A-2303-01.xml b/arms/config/gains/A-2303-01.xml
@@ -25,28 +25,28 @@
     <dead_zone>0 0 0 0 0 0 0</dead_zone>
     <i_clamp>0.25 0.25 0.25 0.25 0.25 0.25 0.25</i_clamp>
     <punch>0 0 0 0 0 0 0</punch>
-    <min_target>-1.790422 -1.790422 -1.790422 -1.790422 -9.617128 -9.617128 -9.617128</min_target>
-    <max_target>1.790422 1.790422 1.790422 1.790422 9.617128 9.617128 9.617128</max_target>
+    <min_target>-1.8 -1.8 -3.4 -1.8 -3.4 -9.6 -9.6</min_target>
+    <max_target>1.8 1.8 3.4 1.8 3.4 9.6 9.6</max_target>
     <target_lowpass>1 1 1 1 1 1 1</target_lowpass>
     <min_output>-1 -1 -1 -1 -1 -1 -1</min_output>
     <max_output>1 1 1 1 1 1 1</max_output>
-    <output_lowpass>0.75 0.5 0.5 0.5 0.75 0.75 0.75</output_lowpass>
+    <output_lowpass>0.75 0.75 0.75 0.75 0.75 0.75 0.75</output_lowpass>
     <d_on_error>1 1 1 1 1 1 1</d_on_error>
   </velocity>
   <effort>
     <kp>0.1 0.1 0.1 0.1 0.1 0.1 0.1</kp>
     <ki>0 0 0 0 0 0 0</ki>
-    <kd>0.0001 0.0001 0.0001 0.001 0.001 0.001 0.001</kd>
+    <kd>0.0001 0.0001 0.0001 0.0001 0.0001 0.0001 0.0001</kd>
     <feed_forward>1 1 1 1 1 1 1</feed_forward>
     <dead_zone>0 0 0 0 0 0 0</dead_zone>
     <i_clamp>0.25 0.25 0.25 0.25 0.25 0.25 0.25</i_clamp>
     <punch>0 0 -0 0 -0 0 0</punch>
-    <min_target>-40 -40 -40 -40 -4 -4 -4</min_target>
-    <max_target>40 40 40 40 4 4 4</max_target>
+    <min_target>-40 -40 -15 -40 -15 -5 -5</min_target>
+    <max_target>40 40 15 40 15 5 5</max_target>
     <target_lowpass>1 1 1 1 1 1 1</target_lowpass>
     <min_output>-1 -1 -1 -1 -1 -1 -1</min_output>
     <max_output>1 1 1 1 1 1 1</max_output>
-    <output_lowpass>0.5 0.5 0.5 0.5 0.9 0.9 0.9</output_lowpass>
+    <output_lowpass>0.9 0.9 0.9 0.9 0.9 0.9 0.9</output_lowpass>
     <d_on_error>0 0 0 0 0 0 0</d_on_error>
   </effort>
 </group_gains>
diff --git a/arms/config/gains/A-2580-04.xml b/arms/config/gains/A-2580-04.xml
@@ -29,8 +29,8 @@
     <dead_zone>0 0 0 0</dead_zone>
     <i_clamp>0.25 0.25 0.25 0.25</i_clamp>
     <punch>0 0 0 0</punch>
-    <min_target>-1.502675 -1.502675 -3.434687 -9.617128</min_target>
-    <max_target>1.502675 1.502675 3.434687 9.617128</max_target>
+    <min_target>-3.4 -1.5 -3.4 -9.6</min_target>
+    <max_target>3.4 1.5 3.4 9.6</max_target>
     <target_lowpass>1 1 1 1</target_lowpass>
     <min_output>-1 -1 -1 -1</min_output>
     <max_output>1 1 1 1</max_output>

diff --git a/arms/config/gains/A-2580-05.xml b/arms/config/gains/A-2580-05.xml
@@ -29,8 +29,8 @@
     <dead_zone>0 0 0 0 0</dead_zone>
     <i_clamp>0.25 0.25 0.25 0.25 0.25</i_clamp>
     <punch>0 0 0 0 0</punch>
-    <min_target>-3.434687 -1.790422 -3.434687 -9.617128 -9.617128</min_target>
-    <max_target>3.434687 1.790422 3.434687 9.617128 9.617128</max_target>
+    <min_target>-3.4 -1.8 -3.4 -9.6 -9.6</min_target>
+    <max_target>3.4 1.8 3.4 9.6 9.6</max_target>
     <target_lowpass>1 1 1 1 1</target_lowpass>
     <min_output>-1 -1 -1 -1 -1</min_output>
     <max_output>1 1 1 1 1</max_output>

diff --git a/arms/config/gains/A-2580-06.xml b/arms/config/gains/A-2580-06.xml
@@ -29,8 +29,8 @@
     <dead_zone>0 0 0 0 0 0</dead_zone>
     <i_clamp>0.25 0.25 0.25 0.25 0.25 0.25</i_clamp>
     <punch>0 0 0 0 0 0</punch>
-    <min_target>-3.434687 -1.790422 -3.434687 -9.617128 -9.617128 -9.617128</min_target>
-    <max_target>3.434687 1.790422 3.434687 9.617128 9.617128 9.617128</max_target>
+    <min_target>-3.4 -1.8 -3.4 -9.6 -9.6 -9.6</min_target>
+    <max_target>3.4 1.8 3.4 9.6 9.6 9.6</max_target>
     <target_lowpass>1 1 1 1 1 1</target_lowpass>
     <min_output>-1 -1 -1 -1 -1 -1</min_output>
     <max_output>1 1 1 1 1 1</max_output>

diff --git a/arms/config/gains/A-2582-07.xml b/arms/config/gains/A-2582-07.xml
@@ -29,8 +29,8 @@
       <dead_zone>0 0 0 0 0 0 0</dead_zone>
       <i_clamp>0.25 0.25 0.25 0.25 0.25 0.25 0.25</i_clamp>
       <punch>0 0 0 0 0 0 0</punch>
-      <min_target>-3.434687 -1.790422 -3.434687 -3.434687 -9.617128 -9.617128 -9.617128</min_target>
-      <max_target>3.434687 1.790422 3.434687 3.434687 9.617128 9.617128 9.617128</max_target>
+      <min_target>-3.4 -1.8 -3.4 -3.4 -9.6 -9.6 -9.6</min_target>
+      <max_target>3.4 1.8 3.4 3.4 9.6 9.6 9.6</max_target>
       <target_lowpass>1 1 1 1 1 1 1</target_lowpass>
       <min_output>-1 -1 -1 -1 -1 -1 -1</min_output>
       <max_output>1 1 1 1 1 1 1</max_output>
@@ -39,9 +39,9 @@
    </velocity>
 
    <effort>
-      <kp>0.2 0.3 0.3 0.3 0.25 0.25 0.25</kp>
+      <kp>0.1 0.1 0.1 0.1 0.25 0.25 0.25</kp>
       <ki>0 0 0 0 0 0 0</ki>
-      <kd>0.0001 0.0001 0.0001 0.001 0.001 0.001 0.001</kd>
+      <kd>0.0001 0.0001 0.0001 0.0001 0.001 0.001 0.001</kd>
       <feed_forward>1 1 1 1 1 1 1</feed_forward>
       <dead_zone>0 0 0 0 0 0 0</dead_zone>
       <i_clamp>0.25 0.25 0.25 0.25 0.25 0.25 0.25</i_clamp>

diff --git a/arms/config/gains/A-2590-01.xml b/arms/config/gains/A-2590-01.xml
@@ -29,8 +29,8 @@
     <dead_zone>0 0 0 0</dead_zone>
     <i_clamp>0.25 0.25 0.25 0.25</i_clamp>
     <punch>0 0 0 0</punch>
-    <min_target>-1.502675 -1.502675 -3.434687 -9.617128</min_target>
-    <max_target>1.502675 1.502675 3.434687 9.617128</max_target>
+    <min_target>-3.4 -1.5 -3.4 -9.6</min_target>
+    <max_target>3.4 1.5 3.4 9.6</max_target>
     <target_lowpass>1 1 1 1</target_lowpass>
     <min_output>-1 -1 -1 -1</min_output>
     <max_output>1 1 1 1</max_output>
@@ -46,8 +46,8 @@
     <dead_zone>0.1 0.1 0.1 0.05</dead_zone>
     <i_clamp>0.25 0.25 0.25 0.25</i_clamp>
     <punch>0 0 0 0</punch>
-    <min_target>-20 -20 -10 -5</min_target>
-    <max_target>20 20 10 5</max_target>
+    <min_target>-10 -20 -10 -5</min_target>
+    <max_target>10 20 10 5</max_target>
     <target_lowpass>1 1 1 1</target_lowpass>
     <min_output>-1 -1 -1 -1</min_output>
     <max_output>1 1 1 1</max_output>