From 06d9acb45cbd6289c90e8b39978ad0d4d67967bc Mon Sep 17 00:00:00 2001 From: mhubii Date: Sun, 6 Aug 2023 12:17:15 +0100 Subject: [PATCH] reduced stiffness --- .../src/admittance_controller.hpp | 2 +- 1 file changed, 1 insertion(+), 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 index 14a04ad3..07348352 100644 --- 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_)) {