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roboticrecycling's Issues

Joint entanglement

Currently, both pseudo inverse and QP control methods experience joint entanglement during operation.
Temporary fix is to add X_WHome as an intermediate location between picking and placing pose
Potential fixes to investigate in the future:

  • Better tuning of gains of joint centering QP control cost
  • Implement "untangle" control method commanding joint velocities to go directly to q0
  • Explore other control architectures
  • More robust trajectory planning: plan smooth, safe trajectory rather than interpolations (prevents control through "awkward" gripper poses)

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