qlin/sas_robot_driver_franka
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Modified the gains in the qp motion generator

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Juancho
2023-06-07 14:50:00 +09:00
parent 07112558fa
commit 8f82451428
1 changed files with 1 additions and 1 deletions
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src/robot_interface_franka.cpp
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@@ -367,7 +367,7 @@ void RobotInterfaceFranka::_start_joint_position_control_mode()
trajectory_generator_sptr_ = trajectory_generator_sptr_ =
std::make_unique<QuadraticProgramMotionGenerator>(1.0, q, q_dot, q); std::make_unique<QuadraticProgramMotionGenerator>(1.0, q, q_dot, q);
double n2 = 2; double n2 = 0.8;
double n1 = 1000*std::sqrt(n2); double n1 = 1000*std::sqrt(n2);
VectorXd K2 = (VectorXd(7)<<n2, n2, n2, n2, n2, n2, n2).finished(); 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(); VectorXd K1 = (VectorXd(7)<<n1, n1, n1, n1, 3*n1, 3*n1, 3*n1).finished();