opc-control shaking-bug when moving to the end of the configuration space

[Robert Katzschmann]

opc-control shaking-bug when moving to the end of the configuration space. The current opc controller is causing the puma, pr2 or user models to shake strongly, when you enter the end of the workspace.

[Samir Menon]

This will be resolved with workspace restrictions..

Xiyang, please work on this.

[Samir Menon]

Recent updates have reduced this a lot for the scl example controller. Basically this happens when the system starts going unstable due to the model lagging behind the controller. The solution is to speed up the model update.

Latest code updates have also sped up the control substantially, so this is not a problem for up to 50dof robots on a decent machine (runs faster than real time).

[Samir Menon]

Issue #6 was marked as a duplicate of this issue.

[Samir Menon]

This is due to a mixture of two things: (a) Workspace limits (b) Tao's Jacobian instabilities.

Case (a) is better served by a generic workspace limitation module in scl, which may be opened as a separate enhancement.

Case (b) is going to be resolved by removing tao.