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. The right wrist has large errors - up to 20 degrees - though this appears to be a recent problem that we didn't
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. The right wrist has large errors - up to 20 degrees - though this appears to be a recent problem that we didn't
Additional context
No response
How does it affect you?
No response