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- Sun Jun 14, 2020 7:20 am
- Forum: General
- Topic: Goal position contstraint for trajectory controller
- Replies: 1
- Views: 5836
Goal position contstraint for trajectory controller
For my project I am using Reinforcement Learning for auto-tuning PID gains on a hebi actuator in gazebo. To increase the influence of the pid control I use control strategy 3 and set all but the position control to 0. Now when I set the velocity and acceleration limits in the joint_limits.yaml file ...