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UM-ARM-Lab
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kuka_iiwa_interface
Developmental controllers for the IIWA 7 robot, including a Catkinized version of the Kuka FRI SDK
BSD 2-Clause "Simplified" License
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Victor VR teleop improvements
#153
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umicharmlab
opened
5 months ago
umicharmlab
commented
5 months ago
[ ] 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