changed kp

source/RobotAPI/libraries/natik/CartesianNaturalPositionControllerProxy.cpp

@@ -187,6 +187,16 @@ FTSensorValue CartesianNaturalPositionControllerProxy::getCurrentFTValue(bool su
     }
     return ft;
 }
+armarx::FTSensorValue armarx::CartesianNaturalPositionControllerProxy::getAverageFTValue(bool substactOffset)
+{
+    FTSensorValue ft = _controller->getAverageFTValue();
+    if (substactOffset)
+    {
+        ft.force = ft.force - _ftOffset.force;
+        ft.torque = ft.torque - _ftOffset.torque;
+    }
+    return ft;
+}
 
 void CartesianNaturalPositionControllerProxy::stopClear()
 {
@@ -347,14 +357,14 @@ void CartesianNaturalPositionControllerProxy::setMaxVelocities(float referencePo
     _runCfg.maxElbPosVel = v.basePosVel * v.scaleElbPosVel * scale;
     _runCfg.maxJointVelocity = ScaleVec(v.baseJointVelocity, v.scaleJointVelocities * scale);
     _runCfg.maxNullspaceVelocity = ScaleVec(v.baseJointVelocity, v.scaleNullspaceVelocities * scale);
-    _runCfg.KpPos                 = k.baseKpTcpPos * scale;
-    _runCfg.KpOri                 = k.baseKpTcpOri * scale;
-    _runCfg.elbowKp               = k.baseKpElbPos * scale;
-    _runCfg.jointLimitAvoidanceKp = k.baseKpJla * scale;
-    _runCfg.nullspaceTargetKp     = k.baseKpNs * scale;
-    _runCfg.maxNullspaceAcceleration   = k.maxNullspaceAcceleration * scale;
-    _runCfg.maxPositionAcceleration    = k.maxPositionAcceleration * scale;
-    _runCfg.maxOrientationAcceleration = k.maxOrientationAcceleration * scale;
+    _runCfg.KpPos                 = k.baseKpTcpPos; // * scale;
+    _runCfg.KpOri                 = k.baseKpTcpOri; // * scale;
+    _runCfg.elbowKp               = k.baseKpElbPos; // * scale;
+    _runCfg.jointLimitAvoidanceKp = k.baseKpJla; // * scale;
+    _runCfg.nullspaceTargetKp     = k.baseKpNs; // * scale;
+    _runCfg.maxNullspaceAcceleration   = k.maxNullspaceAcceleration; // * scale;
+    _runCfg.maxPositionAcceleration    = k.maxPositionAcceleration; // * scale;
+    _runCfg.maxOrientationAcceleration = k.maxOrientationAcceleration; // * scale;
 
     _controller->setConfig(_runCfg);
 }
@@ -508,3 +518,5 @@ CartesianNaturalPositionControllerProxy::ScopedJointValueRestore::~ScopedJointVa
     //ARMARX_IMPORTANT << "restoring joint values";
     rns->setJointValues(jointValues);
 }
+
+

source/RobotAPI/libraries/natik/CartesianNaturalPositionControllerProxy.h

@@ -135,6 +135,7 @@ namespace armarx
         void enableFTLimit(float force, float torque, bool useCurrentFTasOffset);
         void disableFTLimit();
         FTSensorValue getCurrentFTValue(bool substactOffset);
+        FTSensorValue getAverageFTValue(bool substactOffset);
         void stopClear();
 
 

source/RobotAPI/statecharts/DebugDrawerToArVizGroup/DebugDrawerToArVizGroup.scgxml

@@ -3,7 +3,6 @@
 	<Proxies>
 		<Proxy value="RobotAPIInterfaces.debugDrawerToArVizLayerBlackWhitelist"/>
 	</Proxies>
-	<Configurations/>
 	<State filename="UpateLayerBlackWhitelist.xml" visibility="public"/>
 </StatechartGroup>