increase alpha pinv

Author: Thibault Poignonec

cartesian_vic_controller/include/cartesian_vic_controller/rules/vanilla_cartesian_admittance_rule.hpp

@@ -58,7 +58,7 @@ class VanillaCartesianAdmittanceRule : public CartesianVicRule
   Eigen::Matrix<double, Eigen::Dynamic, 6> J_pinv_;
   Eigen::Matrix<double, 6, Eigen::Dynamic> J_dot_;
 
-  double alpha_pinv_ = 0.000005;
+  double alpha_pinv_ = 0.0005;
 
   // Nullspace solver
   Eigen::Matrix<double, Eigen::Dynamic, Eigen::Dynamic> nullspace_projection_;

cartesian_vic_controller/include/cartesian_vic_controller/rules/vanilla_cartesian_impedance_rule.hpp

@@ -63,7 +63,7 @@ class VanillaCartesianImpedanceRule : public CartesianVicRule
 
   Eigen::VectorXd raw_joint_command_effort_;
 
-  double alpha_pinv_ = 0.000005;
+  double alpha_pinv_ = 0.0005;
 
   // Nullspace solver
   Eigen::Matrix<double, Eigen::Dynamic, Eigen::Dynamic> nullspace_projection_;