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diogoalmeida / yumi_experiments

Hosts code for my experiments with yumi
MIT License
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Enforce Joint limits is not working properly and should be redone #1

Open diogoalmeida opened 6 years ago

diogoalmeida commented 6 years ago

https://github.com/diogoalmeida/yumi_experiments/blob/7bfc16394ab001284c925baf30ff4e6bd57e136c/src/admittance_controller.cpp#L446

diogoalmeida commented 6 years ago

Right now the strategy for handling joint limits will result in the controller becoming unstable.