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Victor VR teleop improvements #153

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3 tasks
umicharmlab opened this issue Mar 20, 2024 · 0 comments
Open
3 tasks

Victor VR teleop improvements #153

umicharmlab opened this issue Mar 20, 2024 · 0 comments

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@umicharmlab
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umicharmlab commented Mar 20, 2024

  • make Ik solver have padded joint limits or something to avoid the kuka braking
  • Check the current control mode parameters constantly, if they seem wrong, stop and warn the user!!!
  • check that the solution of IK is within some tolerance of the current joint position, so we don't accidentally make large motions
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