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Support setting soft limits and/or fixed targets for robot joints & make controllers be aware of this #961

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cgokmen opened this issue Oct 10, 2024 · 1 comment
Open

Support setting soft limits and/or fixed targets for robot joints & make controllers be aware of this #961

cgokmen opened this issue Oct 10, 2024 · 1 comment
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enhancement New feature or request

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@cgokmen
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cgokmen commented Oct 10, 2024 •
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Currently we have weird torso-fixing logic in a bunch of places and we will probably need more for the R1 which has a very high DOF torso. We should create a mechanism at the robot level to allow setting certain joints to certain values, make those joints get left out from controllers (e.g. they will be driven still but not controlled), and also take this into account in auto-generated descriptor files as described in #490 .

CC @ChengshuLi @cremebrule
@cgokmen cgokmen added the enhancement New feature or request label Oct 10, 2024
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cgokmen commented Oct 10, 2024

CC @yyf20001230

@cgokmen cgokmen changed the title Figure out setting soft limits and/or fixed joints for robots & make controllers be aware of this Support setting soft limits and/or fixed targets for robot joints & make controllers be aware of this Oct 10, 2024
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