reduced stiffness

lbr-stack · Aug 6, 2023 · 06d9acb · 06d9acb
1 parent 4efc9ee
commit 06d9acb
Showing 1 changed file with 1 addition and 1 deletion.
diff --git a/lbr_demos/lbr_demos_fri_ros2_advanced_cpp/src/admittance_controller.hpp b/lbr_demos/lbr_demos_fri_ros2_advanced_cpp/src/admittance_controller.hpp
@@ -25,7 +25,7 @@ class AdmittanceController {
                        const std::string &base_link = "lbr_link_0",
                        const std::string &end_effector_link = "lbr_link_ee",
                        const CartesianVector &f_ext_th = {2., 2., 2., 0.5, 0.5, 0.5},
-                       const JointVector &dq_gains = {1.5, 1.5, 1.5, 1.5, 1.5, 1.5, 1.5},
+                       const JointVector &dq_gains = {2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0},
                        const CartesianVector &dx_gains = {1.5, 1.5, 1.5, 20., 40., 60.})
       : dq_gains_(dq_gains), dx_gains_(dx_gains), f_ext_th_(f_ext_th) {
     if (!kdl_parser::treeFromString(robot_description, tree_)) {