fix(franka_gazebo): fix tau_ext internal controller bug
#228
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@gollth, @marcbone Similar to my previous command #226 (comment) it looks like something goes wrong in your clang checking action as it does not print the error it encounters. My local clang version does not throw any errors. |
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tau_ext internal controller bug
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Merging this pull request will solve #364. |
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I've just provided an update to the associated issue (#364) with detailed steps to reproduce the bug. Please take a moment to review #288 and share your thoughts. I'd particularly appreciate your input on whether the clamped command should be considered in collision checking instead of the user command. I was unsure if you also wanted to account for internal joint interactions when checking collisions. Your feedback would be invaluable. Thank you! |
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This commit ensures that the internal controller forces are not used in the external torque (i.e. `tau_ext`) calculation when a joint is in its limit.
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This PR ensures that internal controller forces are not used in the external torque calculations when a joint is within its
joint limits. This needs to be done since, in that case, the joint boundaries already compensate for external torques (see #364). Feel free to change this pull request however you like, as there are multiple ways to solve this problem.