From 48867e96b176dd229464fa44010e6da81007db48 Mon Sep 17 00:00:00 2001
From: Gleb Ryabtsev <gryabtse@andrew.cmu.edu>
Date: Tue, 26 Nov 2024 12:36:44 -0500
Subject: [PATCH] post stationary tuning

---
 .../yaml/controller.yaml                      |  8 ++---
 .../grad_dynamics_parameter_estimator.yaml    | 30 +++++++++----------
 2 files changed, 19 insertions(+), 19 deletions(-)

diff --git a/packages/tauv_config/kingfisher_description/yaml/controller.yaml b/packages/tauv_config/kingfisher_description/yaml/controller.yaml
index 5d9662e0..34674b02 100644
--- a/packages/tauv_config/kingfisher_description/yaml/controller.yaml
+++ b/packages/tauv_config/kingfisher_description/yaml/controller.yaml
@@ -12,17 +12,17 @@ max_wrench: [ 100.0, 100.0, 100.0, 100.0, 100.0, 100.0 ]
 
 dynamics:
   # kg
-  mass: 35.5
+  mass: 32.35
 
   # m^3
-  volume: 0.03566
+  volume: 0.03509
 
   # kg / m^3
   water_density: 1028.0
 
   # x, y, z in body NED
-  center_of_gravity: [0.0, 0.0, 0.0]
-  center_of_buoyancy: [-0.021, -0.0015, 0.0]
+  center_of_gravity: [0.0384, 0.02095, 0.0411]
+  center_of_buoyancy: [0.0611, 0.00273, 0.0411]
 
   # Ixx, Iyy, Izz, Ixy, Ixz, Iyz
   moments: [1.0, 1.0, 10.0, 0.0, 0.0, 0.0]
diff --git a/packages/tauv_config/kingfisher_description/yaml/grad_dynamics_parameter_estimator.yaml b/packages/tauv_config/kingfisher_description/yaml/grad_dynamics_parameter_estimator.yaml
index f7b015b0..fa7809f5 100644
--- a/packages/tauv_config/kingfisher_description/yaml/grad_dynamics_parameter_estimator.yaml
+++ b/packages/tauv_config/kingfisher_description/yaml/grad_dynamics_parameter_estimator.yaml
@@ -8,52 +8,52 @@ update_controller: true
 
 parameters:
  m:
-   initial: 35.5
+   initial: 32.35
    fixed: true
    min: 25
    max: 35
    lr: 1
  v:
-   initial: 0.03
+   initial: 0.03509
    fixed: false
    min: 0.02
    max: 0.04
    lr: 1e-5
  gx:
-   initial: 0
+   initial: 0.0384
    fixed: true
    min: -0.01
    max: 0.01
    lr: 1
  gy:
-   initial: 0
+   initial: 0.02095
    fixed: true
    min: -0.01
    max: 0.01
    lr: 1
  gz:
-   initial: 0
+   initial: 0.0411
    fixed: true
    min: -0.01
    max: 0.01
    lr: 1
  bx:
-   initial: 0.0
-   fixed: false
-   min: -0.05
-   max: 0.05
+   initial: 0.0611
+   fixed: true
+   min: -0.1
+   max: 0.1
    lr: 5e-5
  by:
-   initial: 0
-   fixed: false
-   min: -0.01
-   max: 0.01
+   initial: 0.00273
+   fixed: true
+   min: -0.1
+   max: 0.1
    lr: 5e-5
  bz:
-   initial: 0.0
+   initial: 0.0411
    fixed: true
    min: -0.2
-   max: 0
+   max: 0.2
    lr: 1e-6
  Ixx:
    initial: 1