From d32a4cdf57ce734a2ff78f1019d3d39e727d1129 Mon Sep 17 00:00:00 2001 From: yjinzero Date: Thu, 13 Feb 2025 22:18:29 +0900 Subject: [PATCH] add note for arbitrary scaling... --- deploy/deploy_real/deploy_real_ros_ikctrl.py | 1 + 1 file changed, 1 insertion(+) diff --git a/deploy/deploy_real/deploy_real_ros_ikctrl.py b/deploy/deploy_real/deploy_real_ros_ikctrl.py index 30eeddf..de4d65d 100644 --- a/deploy/deploy_real/deploy_real_ros_ikctrl.py +++ b/deploy/deploy_real/deploy_real_ros_ikctrl.py @@ -258,6 +258,7 @@ class Controller: self.lim_hi_pin[i_pin]) self.low_cmd.motor_cmd[i_mot].q = target_q self.low_cmd.motor_cmd[i_mot].dq = 0.0 + # FIXME(ycho): arbitrary scaling self.low_cmd.motor_cmd[i_mot].kp = 0.2*float(self.config.kps[i_mot]) self.low_cmd.motor_cmd[i_mot].kd = 0.2*float(self.config.kds[i_mot]) self.low_cmd.motor_cmd[i_mot].tau = 0.0