Question about diffik example

[Anton]

Good afternoon, Kevin! Thank you very much for your materials on GitHub. If I may, I would like to ask you a small issue about the differential kinematics in the diffik.py file. I tried to experiment with the frequency parameter of the test circle trajectory. When increasing the frequency from 0.5 in your example to 1, the circle described by the mocap element begins to diverge from the reference one. Could you tell me what caused this? Do I understand correctly that by changing the frequency you can change the speed of the robot moving in a circle? And I also noticed that changing the gains for the twist computation coefficients > 1 improves the situation, but in the comments you indicated that they cannot be greater than 1. Could you also tell me where I can see their physical meaning? Thanks in advance, best regards, Anton.