control tweaks for armar6 head

source/RobotAPI/libraries/KITGripperEtherCAT/KITGripperBasisBoard/JointController/JointPWMPositionController.cpp

@@ -36,7 +36,7 @@ JointPWMPositionController::JointPWMPositionController(const std::string deviceN
     posController.positionLimitHi = jointData->getSoftLimitHi();
     //    controller.positionLimitLoHard = dataPtr->getHardLimitLo();
     posController.positionLimitLo = jointData->getSoftLimitLo();
-    posController.p = 2.0f;
+    posController.p = 3.0f;
     this->isLimitless = jointData->isLimitless();
 
 }

source/RobotAPI/libraries/KITGripperEtherCAT/KITGripperBasisBoard/JointController/PWMVelocityController.cpp

@@ -22,7 +22,7 @@
  *             GNU General Public License
  */
 #include "PWMVelocityController.h"
-
+#include <ArmarXCore/observers/filters/rtfilters/AverageFilter.h>
 namespace armarx
 {
 
@@ -36,6 +36,7 @@ namespace armarx
                                     velocityControllerConfigDataPtr->i,
                                     velocityControllerConfigDataPtr->d));
         pid->maxIntegral = velocityControllerConfigDataPtr->maxIntegral;
+        pid->differentialFilter.reset(new rtfilters::AverageFilter(130));
         pid->conditionalIntegralErrorTreshold = velocityControllerConfigDataPtr->conditionalIntegralErrorTreshold;
         pid->threadSafe = false;
     }