From 397ff37922222dba16a731fa7b2e2b8f1c3671cc Mon Sep 17 00:00:00 2001
From: Jose Medina <jose.medina@franka.de>
Date: Tue, 30 Jan 2018 09:39:05 +0100
Subject: [PATCH] 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.
---
 franka_example_controllers/cfg/compliance_param.cfg | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/franka_example_controllers/cfg/compliance_param.cfg b/franka_example_controllers/cfg/compliance_param.cfg
index c5a4489..3a891b0 100755
--- a/franka_example_controllers/cfg/compliance_param.cfg
+++ b/franka_example_controllers/cfg/compliance_param.cfg
@@ -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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