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fix(openarm_hardware): modify pd-gains of controllers (#69)

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Signed-off-by: Hirokazu Ishida (SB Intuitions) <hirokazu.ishida@sbintuitions.co.jp>
Co-authored-by: Daijiro Fukuda <fukuda@clear-code.com>
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Hirokazu Ishida 2026-01-14 15:49:55 +09:00 committed by GitHub
parent a0fa1fb8c8
commit 940b109423
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1 changed files with 3 additions and 4 deletions
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openarm_hardware/include/openarm_hardware/v10_simple_hardware.hpp
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@ -101,10 +101,9 @@ class OpenArm_v10HW : public hardware_interface::SystemInterface {
const uint32_t DEFAULT_GRIPPER_RECV_CAN_ID = 0x18; const uint32_t DEFAULT_GRIPPER_RECV_CAN_ID = 0x18;
// Default gains // Default gains
const std::vector<double> DEFAULT_KP = {20.0, 20.0, 20.0, 20.0, const std::vector<double> DEFAULT_KP = {150.0, 150.0, 150.0, 120.0,
5.0, 5.0, 5.0, 0.5}; 10.0, 10.0, 10.0};
const std::vector<double> DEFAULT_KD = {2.75, 2.5, 0.7, 0.4, const std::vector<double> DEFAULT_KD = {2.75, 2.5, 2.0, 2.0, 0.7, 0.6, 0.5};
0.7, 0.6, 0.5, 0.1};
const double GRIPPER_JOINT_0_POSITION = 0.044; const double GRIPPER_JOINT_0_POSITION = 0.044;
const double GRIPPER_JOINT_1_POSITION = 0.0; const double GRIPPER_JOINT_1_POSITION = 0.0;