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icub-model-generator commit: robotology/icub-models-generator@c7ea2a7 urdf_parser_py commit: ros/urdf_parser_py@31474b9 simmechanics-to-urdf commit: robotology/simmechanics-to-urdf@9431d99
robotology · Jun 26, 2023 · 637553d · 637553d
1 parent 67f9f07
commit 637553d
Showing 1 changed file with 2 additions and 2 deletions.
diff --git a/iCub/conf/gazebo_icub_torso.ini b/iCub/conf/gazebo_icub_torso.ini
@@ -15,8 +15,8 @@ max_damping   100.0  100.0  100.0
 [POSITION_CONTROL]
 controlUnits  metric_units
 controlLaw    joint_pid_gazebo_v1
-kp            1.745 1.745 1.745
-kd            0.174 0.174 0.174
+kp            1.745 20.0 20.0
+kd            1.0   0.174 0.174
 ki            0.174 0.174 0.174
 maxInt        9999  9999  9999
 maxOutput     9999  9999  9999