diff --git a/CHANGELOG.md b/CHANGELOG.md index 61545fa81acbf7bf5254a1ea81ace822c8dba8e8..a6b427292dd907ef9e0755b84e0fa3d0f97a2ee6 100644 --- a/CHANGELOG.md +++ b/CHANGELOG.md @@ -5,6 +5,7 @@ Requires `libfranka` >= 0.2.0 * Added missing dependency to `franka_example_controllers` + * Lowered rotational gains for Cartesian impedance example controller ## 0.2.0 - 2018-01-29 diff --git a/franka_example_controllers/cfg/compliance_param.cfg b/franka_example_controllers/cfg/compliance_param.cfg index c5a448923cb8dd3bbd19eb5d53c8bf9166a3f567..3a891b0540eeeffa45db5b28a5fad0be67862cdc 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"))