PD Parameters

[shubhankarKulk]

I am trying to replicate the results on my own model and I was wondering how were the PD values of the joint parameters designed. I can see that the values given are as following:
joint_params:

["name", "k_p", "k_d", "a_ref", "a_scale", "torque_limit"]

• ["lfemur_z" , 500.0, 50.0, -20.0, 1.0, 200.0]
• ["lfemur_y" , 500.0, 50.0, 0.0, 1.0, 200.0]
• ["lfemur_x" , 500.0, 50.0, 0.0, 5.0, 200.0]
• ["ltibia_x" , 500.0, 50.0, 45.0, 5.0, 150.0]
• ["lfoot_z" , 400.0, 40.0, 0.0, 1.0, 150.0]
• ["lfoot_y" , 400.0, 40.0, 0.0, 1.0, 150.0]
• ["lfoot_x" , 400.0, 40.0, 0.0, 5.0, 150.0]
• ["rfemur_z" , 500.0, 50.0, 20.0, 1.0, 200.0]
• ["rfemur_y" , 500.0, 50.0, 0.0, 1.0, 200.0]
• ["rfemur_x" , 500.0, 50.0, 0.0, 5.0, 200.0]
• ["rtibia_x" , 500.0, 50.0, 45.0, 5.0, 150.0]
• ["rfoot_z" , 400.0, 40.0, 0.0, 1.0, 150.0]
• ["rfoot_y" , 400.0, 40.0, 0.0, 1.0, 150.0]
• ["rfoot_x" , 400.0, 40.0, 0.0, 5.0, 150.0]
• ["upperback_z" , 1000.0, 100.0, 0.0, 1.0, 200.0]
• ["upperback_y" , 1000.0, 100.0, 0.0, 1.0, 200.0]
• ["upperback_x" , 1000.0, 100.0, 0.0, 1.0, 200.0]
• ["lowerneck_z" , 200.0, 20.0, 0.0, 1.0, 50.0]
• ["lowerneck_y" , 200.0, 20.0, 0.0, 1.0, 50.0]
• ["lowerneck_x" , 200.0, 20.0, 0.0, 1.0, 50.0]
• ["lclavicle_z" , 400.0, 40.0, 0.0, 1.0, 100.0]
• ["lclavicle_y" , 400.0, 40.0, 0.0, 1.0, 100.0]
• ["lhumerus_z" , 400.0, 40.0, 80.0, 1.0, 100.0]
• ["lhumerus_y" , 400.0, 40.0, 0.0, 1.0, 100.0]
• ["lhumerus_x" , 400.0, 40.0, 0.0, 1.0, 100.0]
• ["lradius_x" , 300.0, 30.0, 45.0, 5.0, 60.0]
• ["rclavicle_z" , 400.0, 40.0, 0.0, 1.0, 100.0]
• ["rclavicle_y" , 400.0, 40.0, 0.0, 1.0, 100.0]
• ["rhumerus_z" , 400.0, 40.0, -80.0, 1.0, 100.0]
• ["rhumerus_y" , 400.0, 40.0, 0.0, 1.0, 100.0]
• ["rhumerus_x" , 400.0, 40.0, 0.0, 1.0, 100.0]
• ["rradius_x" , 300.0, 30.0, 45.0, 5.0, 60.0]

body_params:

["name","diff weight"]

• ["lfemur" , 1.0]
• ["ltibia" , 1.0]
• ["lfoot" , 0.2]
• ["rfemur" , 1.0]
• ["rtibia" , 1.0]
• ["rfoot" , 0.2]
• ["upperback" , 1.0]
• ["lowerneck" , 1.0]
• ["lclavicle" , 1.0]
• ["lhumerus" , 1.0]
• ["lradius" , 1.0]
• ["rclavicle" , 1.0]
• ["rhumerus" , 1.0]
• ["rradius" , 1.0]

How can I customize them for my humanoid model?