Closed jc211 closed 6 months ago
I haven't encountered power limit violations, this suggests very high torques being applied. I can still look into this, provided you can give me some more information. Do you have a minimum working example that reproducibly demonstrates this behavior? Also, what version of the robot are you using? Are you using a special end-effector or applying a high load? Maybe your robot is mounted in a special orientation (on a wall or upside-down)?
I think this happens mostly when go_to_joints is set to a destination that is far from its current state. The torques are not being clipped and thats when this happens. I found the solution was to use something like ruckig to create smooth curves for the joint trajectories.
The newest release v0.7.4 clips the torques as well as the jerk, including the dynamic joint limit control term, which was previously excluded from clipping. I think this will add additional stability when the robot runs into or close to the joint limits. Maybe this will help with your problem. We're also working on better motion generators which will hopefully avoid this problem altogether.
Thanks for the great work! I've been using this as my main Franka driver and I noticed that the joints will sometimes wildly oscillate when trying to get into a particular motion. Has anyone else encountered this issue? The error I get is "Power Limit Violation"