From 8f82451428fb507d943719eecb607d69e4cba9a4 Mon Sep 17 00:00:00 2001
From: Juancho <juanjqogm@gmail.com>
Date: Wed, 7 Jun 2023 14:50:00 +0900
Subject: [PATCH] Modified the gains in the qp motion generator

---
 src/robot_interface_franka.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/robot_interface_franka.cpp b/src/robot_interface_franka.cpp
index 3021e66..830b4b6 100644
--- a/src/robot_interface_franka.cpp
+++ b/src/robot_interface_franka.cpp
@@ -367,7 +367,7 @@ void RobotInterfaceFranka::_start_joint_position_control_mode()
     trajectory_generator_sptr_ =
         std::make_unique<QuadraticProgramMotionGenerator>(1.0, q, q_dot, q);
 
-    double n2 = 2;
+    double n2 = 0.8;
     double n1 = 1000*std::sqrt(n2);
     VectorXd K2 = (VectorXd(7)<<n2, n2, n2, n2, n2, n2, n2).finished();
     VectorXd K1 = (VectorXd(7)<<n1, n1, n1, n1, 3*n1, 3*n1, 3*n1).finished();