From eeca95ed4bd2f6f154eab3312f8855a3de01f6ac Mon Sep 17 00:00:00 2001 From: Daijiro Fukuda Date: Wed, 14 Jan 2026 18:00:01 +0900 Subject: [PATCH] Decrease gain for safety (#78) We observed that executing actions with large position differences can result in dangerously high velocities, depending on the controller. So, the default values should be lower. --- .../include/openarm_hardware/v10_simple_hardware.hpp | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/openarm_hardware/include/openarm_hardware/v10_simple_hardware.hpp b/openarm_hardware/include/openarm_hardware/v10_simple_hardware.hpp index 52c7603..aa54b7e 100644 --- a/openarm_hardware/include/openarm_hardware/v10_simple_hardware.hpp +++ b/openarm_hardware/include/openarm_hardware/v10_simple_hardware.hpp @@ -101,8 +101,8 @@ class OpenArm_v10HW : public hardware_interface::SystemInterface { const uint32_t DEFAULT_GRIPPER_RECV_CAN_ID = 0x18; // Default gains - const std::vector DEFAULT_KP = {150.0, 150.0, 150.0, 120.0, - 10.0, 10.0, 10.0}; + const std::vector DEFAULT_KP = {70.0, 70.0, 70.0, 60.0, + 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;