JeanElsner
Trajectory following using cartesian velocity controller
I can't seem to get a basic trajectory follower to work.
I have a block(prop.Block()) which I place in the scene along with Panda and install an extra sensor to get the block pose. I calculate a 100 step Cartesian trajectory of SE(3) matrices from TCP to the Block.
In step I get the current TCP pose from dm.Timestep and expected TCP pose from the trajectory above. If the current TCP pose is at the expected pose then I consider the step complete and increment to next step. If not then I do not consider the step complete. The velocity action is (expected - actual) / 0.1 (since the control timestep is 0.1)
(just setting action x,y,z and not setting any angular velocity components)
It almost seems to work except it is unstable. Looks like a classic case of wrong gains but can't seem to get it right.
Would you have any ideas?
Here is the code and the video
That's odd. Looking at your video, that's not a behavior I would expect. It's possible that this behavior is a result of how I configured the controller. I will investigate and get back to you.
I am also having an issue with the Panda cartesian velocity controller. I can't see the above video but it sounds like my issue is similar.
I am using gymnasium to control a RL environment with keyboard inputs, corresponding to 1(m/s?) in the world's axes. Around 0:15 it starts to oscillate on its own, without any action given to the controller.
If you need code to replicate I can write some.
@sachinkundu @why-does-ie-still-exist Did you able to solve the issue?
