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You can select which controller you want to tune with the dropdown menu. You can update the dropdown menu by pressing the Refresh Controllers button (it will check which controllers are currently loaded). The gui is different for each controller displaying parameters that are available to modify for this controller.

You can modify the different parameters. To set the new values for the selected controllers, press Set Selected or press Set All for all to them. For some controllers, you're able to plot the relevant data and move the joint on a predefined movement.

Once you're happy with one or more controllers, you can select them and press the Save Selected button or Save All to save all to them. This button will ask you for a file, by default, you should save the parameters to the sr_edc_controller_configuration folder.

Tune effort controllers

Tune position controllers

2024-06-15 13:47