fix(franka,controllers): fix osc vibration and trajectory jumping #228
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This commit resolves two issues in the franka controllers: 1. OSC Vibration: The order of torque limiting operations in osc() and joint_controller() was reversed. Torques are now first clamped by TorqueSafetyGuardFn (with new per-joint limits) and then rate-limited. This improves stability. TorqueSafetyGuardFn was also enhanced to support per-joint min/max torque arrays. 2. Trajectory Jumping: The reset() methods in LinearPoseTrajInterpolator and LinearJointPositionTrajInterpolator were refactored. They now correctly use the robot's current position as the start for new trajectories, eliminating abrupt jumps. Redundant internal state variables were removed. 3. adds avoidance forces and removes hard push away from the limits.
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Closed in favor of #237 |
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This commit resolves two issues in the franka controllers:
OSC Vibration: The order of torque limiting operations in osc() and joint_controller() was reversed. Torques are now first clamped by TorqueSafetyGuardFn (with new per-joint limits) and then rate-limited. This improves stability. TorqueSafetyGuardFn was also enhanced to support per-joint min/max torque arrays.
Trajectory Jumping: The reset() methods in LinearPoseTrajInterpolator and LinearJointPositionTrajInterpolator were refactored. They now correctly use the robot's current position as the start for new trajectories, eliminating abrupt jumps. Redundant internal state variables were removed.