How to increase the high level control frequence from 20 hz to higher, e.g. 100 Hz? OSC_control 's rotation stiffness seems wrong

[luoshaqi]

Thanks for your work on franka and sharing. There are two questions may improve this repo:

1. How to increase the high level control frequence from 20 hz to higher, e.g. 100 Hz? in nuc side, we can modified the frequence via charmander.yml, but it not works in desktop side.

2. in OSC_control mode, I have already modified the trans and rotation stiffness to 2000 N/m and 500 Nm/rad, separately. The stiffness acutually is very high, the trans stiffness seems working well and the corresponding behave looks like original cartisian impedance controller provided by franka ros with 2000 N/m. But rotations stiffness with 500 Nm/rad seems too week, cannot produce enought torque in the EE frame. we can change the EE's rotation by hand, only apply a small torque in the EE frame.