Improves franka_gazebo gripper PID gains

This commit improves the gripper PID gains since the old gains caused the gripper to oscillate around a given setpoint (see frankaemika#172).
rickstaa · Oct 4, 2021 · c4ec516 · c4ec516
1 parent 3ca5236
commit c4ec516
Showing 1 changed file with 5 additions and 5 deletions.
diff --git a/franka_gazebo/config/franka_hw_sim.yaml b/franka_gazebo/config/franka_hw_sim.yaml
@@ -1,12 +1,12 @@
 arm_id: $(arg arm_id)
 
-m_ee:  0.76
+m_ee: 0.76
 franka_gripper:
-  type:    franka_gazebo/FrankaGripperSim
-  arm_id:  $(arg arm_id)
+  type: franka_gazebo/FrankaGripperSim
+  arm_id: $(arg arm_id)
 
   finger1:
-    gains: { p: 100, i: 25, d: 20 }
+    gains: { p: 1000, i: 0, d: 0 }
 
   finger2:
-    gains: { p: 100, i: 25, d: 20 }
+    gains: { p: 1000, i: 0, d: 0 }