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Decrease gain for safety (#78)

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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.
This commit is contained in:
Daijiro Fukuda 2026-01-14 18:00:01 +09:00 committed by GitHub
parent 940b109423
commit eeca95ed4b
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1 changed files with 2 additions and 2 deletions
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openarm_hardware/include/openarm_hardware/v10_simple_hardware.hpp
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@ -101,8 +101,8 @@ 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 = {150.0, 150.0, 150.0, 120.0, const std::vector<double> DEFAULT_KP = {70.0, 70.0, 70.0, 60.0,
10.0, 10.0, 10.0}; 10.0, 10.0, 10.0};
const std::vector<double> DEFAULT_KD = {2.75, 2.5, 2.0, 2.0, 0.7, 0.6, 0.5}; const std::vector<double> 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_0_POSITION = 0.044;