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Refactor controller configuration and update planning parameters for improved performance

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Даниил Грабарь
2026-05-14 07:29:47 +03:00
parent c3d1de7b01
commit 7eefdd66d5
8 changed files with 51 additions and 61 deletions
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src/iiwa_config/config/setting.yaml
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@@ -4,7 +4,7 @@ robot:
port: 30200
command_mode: "position" # torque, position
fri_cycle_ms: 10 # период FRI-цикла: 5 мс (200 Гц) или 10 мс (100 Гц)
joint_position_tau: 0.04 # постоянная времени фильтра позиций [с]: больше → плавнее, медленнее
joint_position_tau: 0.01 # постоянная времени фильтра позиций [с]: больше → плавнее, медленнее
description: pkg://iiwa_description/urdf/iiwa7.urdf.xacro