Using a direct mapping from gripper/measured_jp to jaws/servo_jp is too brutal. One solution is to create a trajectory between the measured jaw angle the desired jaw angle (i.e. use some kind of move_jp). The actual ISI controller seems to do that. For now, a simple linear interpolation can be implemented using a maximum rate. This has been tested in f9cc466ed89924a5b35def16b733b7a7c023865b.
To complete this we also need:
Provided configuration options for users in json files
Add a different rate when returning from non-follow mode (clutch or start). The ISI controller seems to behave that way
Use the task periodicity to compute the maximum delta angle based on user provided rate to get results independent of the task periodicity
Using a direct mapping from
gripper/measured_jptojaws/servo_jpis too brutal. One solution is to create a trajectory between the measured jaw angle the desired jaw angle (i.e. use some kind ofmove_jp). The actual ISI controller seems to do that. For now, a simple linear interpolation can be implemented using a maximum rate. This has been tested in f9cc466ed89924a5b35def16b733b7a7c023865b.To complete this we also need: