feat: Add new parameters for the controllers and fix reference frame when using world base jacobian - #29
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Pull request overview
This PR enhances the cartesian impedance controller by adding configurable parameters for operational space regularization and joint limit repulsion, while also fixing the reference frame selection when using world-base Jacobian calculations.
Changes:
- Added operational space regularization parameter to improve numerical stability near singularities
- Implemented configurable joint limit repulsion system with safe range and maximum torque parameters
- Corrected reference frame from WORLD to LOCAL_WORLD_ALIGNED for world-base Jacobian
- Re-enabled exponential moving average filtering for output torques
Reviewed changes
Copilot reviewed 2 out of 2 changed files in this pull request and generated 2 comments.
| File | Description |
|---|---|
| src/cartesian_impedance_controller.yaml | Added parameter definitions for operational_space_regularization and joint_limit_repulsion configuration |
| src/cartesian_controller.cpp | Updated Jacobian reference frame, integrated new parameters into control logic, and re-enabled torque filtering |
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Co-authored-by: Copilot <175728472+Copilot@users.noreply.github.com>
Co-authored-by: Copilot <175728472+Copilot@users.noreply.github.com>
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|
Thanks for fixing this issues! In particular the one with the reference frame... |
yizhongzhang1989
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Mar 17, 2026
…when using world base jacobian (learnsyslab#29) * fix: world reference frame * feat: add further parameters for tuning * Update src/cartesian_impedance_controller.yaml Co-authored-by: Copilot <175728472+Copilot@users.noreply.github.com> * Update src/cartesian_controller.cpp Co-authored-by: Copilot <175728472+Copilot@users.noreply.github.com> --------- Co-authored-by: Daniel San José Pro <42489409+danielsanjosepro@users.noreply.github.com> Co-authored-by: Niklas Schuelter <niklasschuelter@tum.de> Co-authored-by: Copilot <175728472+Copilot@users.noreply.github.com>
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