From a7a8295884fdca7ba4b6c06f0dd0cdad65d34714 Mon Sep 17 00:00:00 2001 From: hbuurmei Date: Tue, 29 Oct 2024 15:11:53 -0700 Subject: [PATCH] Update smoothing par --- stack/main/src/controller/controller/ik_solver_node.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/stack/main/src/controller/controller/ik_solver_node.py b/stack/main/src/controller/controller/ik_solver_node.py index cb321ca..2d674a8 100644 --- a/stack/main/src/controller/controller/ik_solver_node.py +++ b/stack/main/src/controller/controller/ik_solver_node.py @@ -81,7 +81,7 @@ def __init__(self): # Initializations self.u_opt_previous = np.array([0., 0., 0., 0., 0., 0.]) # initially no control input self.smooth_stat = self.u_opt_previous # expontential smoothing - self.alpha = 0.5 + self.alpha = 0.25 # Get inverse kinematics mappings data_dir = os.getenv('TRUNK_DATA', '/home/trunk/Documents/trunk-stack/stack/main/data')