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[Proposal] Make reach task with IK controller more stable #62

@louislelay

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@louislelay

📌 Issue Type

  • Bug Report

📝 Description

The Reach task with the IK controller result isn't perfect, the video is findable here: #61

I think it's probably because of the config, on the Isaac Lab repository, the example for franka use a different config for ik than for joint pos controller with a higher PD.

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