Erratic behavior when current joint is above the joint limit

[captain-yoshi]

This happened on a real UR3.

When the ur3_wrist continuous joint is past the joint limit, the controller sends a position value of the joint limit. This leads to a high acceleration movement off the joint.

I think that the controller should check if the joints are within valid ranges at startup.

20240123_164237.mp4

[stefanscherzinger]

@captain-yoshi
Thanks for reporting this! That's in fact an issue. I need to think of a mechanism to handle the infinite feature for some robot joints.