Merge branch 'hotfix/max-path-pose-deviation' into fr3-develop

frankaemika · Dec 1, 2023 · 3e595a6 · 3e595a6
2 parents 457021b + e561f55
commit 3e595a6
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Showing 3 changed files with 12 additions and 7 deletions.
diff --git a/CHANGELOG.md b/CHANGELOG.md
@@ -1,5 +1,9 @@
 # CHANGELOG
 
+## 0.13.1 - 2023-11-30
+
+ * Hotfix: (temporary-workaround) for max-path-pose-deviation in ExternalMode for callback based control.
+
 ## 0.13.0 - 2023-11-16
 
  * Add abstract ActiveControlBase class for the ActiveControllers to implement.

diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -2,7 +2,7 @@ cmake_minimum_required(VERSION 3.4)
 
 list(APPEND CMAKE_MODULE_PATH "${CMAKE_CURRENT_SOURCE_DIR}/cmake")
 
-set(libfranka_VERSION 0.13.0)
+set(libfranka_VERSION 0.13.1)
 
 project(libfranka
   VERSION ${libfranka_VERSION}

diff --git a/src/robot.cpp b/src/robot.cpp
@@ -55,12 +55,13 @@ void Robot::control(std::function<Torques(const RobotState&, franka::Duration)>
                     double cutoff_frequency) {
   std::unique_lock<std::mutex> control_lock(control_mutex_, std::try_to_lock);
   assertOwningLock(control_lock);
-
-  ControlLoop<JointVelocities> loop(*impl_, std::move(control_callback),
-                                    [](const RobotState&, Duration) -> JointVelocities {
-                                      return {{0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0}};
-                                    },
-                                    limit_rate, cutoff_frequency);
+  // temporary workaround for the max_path_pose_deviation issue
+  limit_rate = true;
+  ControlLoop<JointPositions> loop(*impl_, std::move(control_callback),
+                                   [](const RobotState& robot_state, Duration) -> JointPositions {
+                                     return JointPositions(robot_state.q);
+                                   },
+                                   limit_rate, cutoff_frequency);
   loop();
 }