From 940b10942372eb6fdf9200b49a6b6a87fa0d48d1 Mon Sep 17 00:00:00 2001 From: Hirokazu Ishida <38597814+HiroIshida@users.noreply.github.com> Date: Wed, 14 Jan 2026 15:49:55 +0900 Subject: [PATCH] fix(openarm_hardware): modify pd-gains of controllers (#69) Signed-off-by: Hirokazu Ishida (SB Intuitions) Co-authored-by: Daijiro Fukuda --- .../include/openarm_hardware/v10_simple_hardware.hpp | 7 +++---- 1 file changed, 3 insertions(+), 4 deletions(-) diff --git a/openarm_hardware/include/openarm_hardware/v10_simple_hardware.hpp b/openarm_hardware/include/openarm_hardware/v10_simple_hardware.hpp index 84fa0e0..52c7603 100644 --- a/openarm_hardware/include/openarm_hardware/v10_simple_hardware.hpp +++ b/openarm_hardware/include/openarm_hardware/v10_simple_hardware.hpp @@ -101,10 +101,9 @@ class OpenArm_v10HW : public hardware_interface::SystemInterface { const uint32_t DEFAULT_GRIPPER_RECV_CAN_ID = 0x18; // Default gains - const std::vector DEFAULT_KP = {20.0, 20.0, 20.0, 20.0, - 5.0, 5.0, 5.0, 0.5}; - const std::vector DEFAULT_KD = {2.75, 2.5, 0.7, 0.4, - 0.7, 0.6, 0.5, 0.1}; + const std::vector DEFAULT_KP = {150.0, 150.0, 150.0, 120.0, + 10.0, 10.0, 10.0}; + const std::vector DEFAULT_KD = {2.75, 2.5, 2.0, 2.0, 0.7, 0.6, 0.5}; const double GRIPPER_JOINT_0_POSITION = 0.044; const double GRIPPER_JOINT_1_POSITION = 0.0;