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pid_shadow_robot

Test of PID control for shadow robot-like hand.

Simplified hand model taken from mj_envs repository: https://github.com/vikashplus/mj_envs

To check each of the control types uncomment required model in 'pid_test.py' and run it.

Requested behaviours

  • All the ctrl inputs are set to 0 - hand base should be stable, fingers fully stretched
  • Only ctrl input of index finger is set to finger - index finger should be fully bent

Observed behaviour

  • Control works only with position control. The index finger is bent and hand is kept high.
  • With PID and P control the hand is not controlled at all. Hand base is falling down, finger is not bent at all. Resulting pose is the same for PID and P control.