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Commit 397ff379 authored by Jose Medina's avatar Jose Medina
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Lower rotational gains

With values higher that 40 for the rotational stiffness, the arm could start vibrating.
This commit sets more conservative gains with a maximum of 30.
parent 5b3bcd49
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......@@ -6,7 +6,7 @@ from dynamic_reconfigure.parameter_generator_catkin import *
gen = ParameterGenerator()
gen.add("translational_stiffness", double_t, 0, "Cartesian translational stiffness", 200, 0, 400)
gen.add("rotational_stiffness", double_t, 0, "Cartesian rotational stiffness", 20, 0, 100)
gen.add("rotational_stiffness", double_t, 0, "Cartesian rotational stiffness", 10, 0, 30)
gen.add("nullspace_stiffness", double_t, 0, "Stiffness of the joint space nullspace controller (the desired configuration is the one at startup)", 0, 0, 100)
exit(gen.generate(PACKAGE, "dynamic_compliance", "compliance_param"))
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