Apply suggestions from code review

urmahp · urfeex · web-flow · commit fc3e28947576 · 2025-06-05T10:54:06.000+02:00
Co-authored-by: Felix Exner &lt;feex@universal-robots.com&gt;
diff --git a/include/ur_client_library/control/script_command_interface.h b/include/ur_client_library/control/script_command_interface.h
@@ -163,6 +163,7 @@ class ScriptCommandInterface : public ReverseInterface
    * torques based on either tcp poses or joint poses and applies the torques to the robot using the torque_command
    * function. The gains can be used to change the response of the controller. Be aware that changing the controller
    * response can make it unstable.
+   * The PD controller can be used without explicitly defining those gains, as it contains a set of default gains for each robot model.
    *
    * \param kp A vector6d of proportional gains for each of the joints in the robot.
    * \param kd A vector6d of derivative gains for each of the joints in the robot.

Original file line number	Diff line number	Diff line change
`@@ -163,6 +163,7 @@ class ScriptCommandInterface : public ReverseInterface`
`163`	`163`	`* torques based on either tcp poses or joint poses and applies the torques to the robot using the torque_command`
`164`	`164`	`* function. The gains can be used to change the response of the controller. Be aware that changing the controller`
`165`	`165`	`* response can make it unstable.`
	`166`	`+ * The PD controller can be used without explicitly defining those gains, as it contains a set of default gains for each robot model.`
`166`	`167`	`*`
`167`	`168`	`* \param kp A vector6d of proportional gains for each of the joints in the robot.`
`168`	`169`	`* \param kd A vector6d of derivative gains for each of the joints in the robot.`