Joint Position Control is too soft and unstable in simulation

Issue #42 open
DouglasS created an issue

As reported by @stgray in issue #39, when transitioning to Joint Position Control in SCS the robot falls over immediately.

The remedy for this is non-trivial and unfortunately we probably won't be able to address it before the finals. It requires a different set of joint gains from what runs on the real robot and a great deal of tuning.

As soon as the DRC is over this should be high priority. Adding this to the bug tracker now so we don't forget.

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