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fix(franka_gazebo): fix tau_ext internal controller bug #228

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@rickstaa rickstaa commented Feb 22, 2022

This PR ensures that internal controller forces are not used in the external torque calculations when a joint is within its
joint limits. This needs to be done since, in that case, the joint boundaries already compensate for external torques (see #364). Feel free to change this pull request however you like, as there are multiple ways to solve this problem.

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@gollth, @marcbone Similar to my previous command #226 (comment) it looks like something goes wrong in your clang checking action as it does not print the error it encounters. My local clang version does not throw any errors.

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@gollth, @marcbone Again I think your clang-format action is broken.

@rickstaa rickstaa force-pushed the fix_tau_ext_internal_controller_bug branch 2 times, most recently from 3154053 to 98d74f6 Compare September 1, 2023 14:54
@rickstaa rickstaa changed the title fix(franka_gazebo): fix tau_ext internal controller bug fix(franka_gazebo): fix tau_ext internal controller bug Sep 1, 2023
@rickstaa rickstaa marked this pull request as draft September 1, 2023 16:11
@rickstaa rickstaa force-pushed the fix_tau_ext_internal_controller_bug branch 2 times, most recently from cbc6c4f to 1fb726e Compare September 1, 2023 17:08
@rickstaa rickstaa marked this pull request as ready for review September 4, 2023 13:30
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rickstaa commented Sep 4, 2023

Merging this pull request will solve #364.

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rickstaa commented Sep 4, 2023

@gollth, @FE-EnricoSartori,

I've just provided an update to the associated issue (#364) with detailed steps to reproduce the bug. Please take a moment to review #288 and share your thoughts. I'd particularly appreciate your input on whether the clamped command should be considered in collision checking instead of the user command. I was unsure if you also wanted to account for internal joint interactions when checking collisions.

Your feedback would be invaluable. Thank you!

This commit ensures that the internal controller forces are not used in
the external torque (i.e. `tau_ext`) calculation when a joint is in its
limit.
@rickstaa rickstaa force-pushed the fix_tau_ext_internal_controller_bug branch from 1fb726e to a1cc0a9 Compare March 23, 2024 20:47
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