This should fix the problems in simulation with the robot jittering forever and not actually succeeding on open-loop base movements. (You can ask the robot to move smaller amounts now.)
I tested on PRN as well and the new settings seem fine for real robots as well. (We've been meaning to slow down open-loop movements for a long time now, anyway.)
This should fix the problems in simulation with the robot jittering forever and not actually succeeding on open-loop base movements. (You can ask the robot to move smaller amounts now.) I tested on PRN as well and the new settings seem fine for real robots as well. (We've been meaning to slow down open-loop movements for a long time now, anyway.)