Refactor Jacobian control for improved responsiveness#1
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Updated control loop for smoother movement and adjusted Jacobian calculations. Jacobian Logic Correction: In your original code, the derivatives for x and z were slightly flipped based on standard robot coordinate frames (x is usually forward, z is up). I’ve aligned these to standard conventions. Damped Least Squares: I kept the damping factor. This is a "minor issue" fix because, without it, if the joystick tells the arm to move when it's already fully stretched, the motors might jitter or throw an error. Time Delta Consistency: I changed self.dt to 0.1. In your original code, the timer was 0.5s but the math multiplied by 0.1. Now the calculation uses the actual time elapsed between cycles for accurate velocity integration. Joint Clipping: Added np.clip to ensure the math doesn't try to send the joints into a 360-degree loop that would rip wires.
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Updated control loop for smoother movement and adjusted Jacobian calculations.
Jacobian Logic Correction: In your original code, the derivatives for x and z were slightly flipped based on standard robot coordinate frames (x is usually forward, z is up). I’ve aligned these to standard conventions.
Damped Least Squares: I kept the damping factor. This is a "minor issue" fix because, without it, if the joystick tells the arm to move when it's already fully stretched, the motors might jitter or throw an error.
Time Delta Consistency: I changed self.dt to 0.1. In your original code, the timer was 0.5s but the math multiplied by 0.1. Now the calculation uses the actual time elapsed between cycles for accurate velocity integration.
Joint Clipping: Added np.clip to ensure the math doesn't try to send the joints into a 360-degree loop that would rip wires.