Action Accurancy in OSC_POSE controller

[williampai0704]

Hi, thanks for the work of this amazing real-time library, I was trying to replay my eef delta command using OSC_POSE controller in franka panda and find out that the robot is not moving or weirdly drifting with the input of originally recorded eef delta command. When I look into the osc_control.py example, I found out that the action_pos is scaled 10 times and clipped between -1 to 1, and the angle command is clipped between -0.5 to 0.5. Also, the default translation scale is 0.05, rotation scale is 1.0, are there any physical meaning or formula behind these parameters? I try to run osc_control.py and found out the eef does not move as what target_delta_pose specified (I try with moving 0.1m in x but turn out only move around 0.08), so I am wondering is this expected in osc_pose controller. Thanks for the help.