The low level joint control on the arms needs tuning to improve trajectory tracking.
Detailed context
The joint tracking on the arms has up to 4 degrees of error on most joints. This is causing issues with the Cartesian control since the pose of the hands cannot be guaranteed.
Robot Name 🤖
ergoCub 1.0 S/N:000
Request/Failure description
The low level joint control on the arms needs tuning to improve trajectory tracking.
Detailed context
The joint tracking on the arms has up to 4 degrees of error on most joints. This is causing issues with the Cartesian control since the pose of the hands cannot be guaranteed.
Additional context
No response
How does it affect you?
No response