[OpenArm] Joint state jitter and low-speed oscillation for builders integrators (advanced)
OpenArm troubleshooting thread: [OpenArm] Joint state jitter and low-speed oscillation for builders integrators (advanced). Practical checks, likely root causes...
An annoying OpenArm failure mode shows up only at low speed: joints appear mostly correct, but motion becomes jittery, small oscillations appear, and confidence in teleop or precision tasks drops fast.
How are you diagnosing joint state jitter and low-speed oscillation on OpenArm?
Please share how you separate sensing noise, timestamp instability, mechanical backlash, and gain tuning problems before changing too many things at once.
If you reply, include one exact oscillation symptom and one exact measurement or tuning step that moved the diagnosis forward.
The best replies will say whether the oscillation was visible in logs, camera replay, or operator feel first.
If you used a low-speed benchmark motion to isolate the problem, please share it. Searchers often need that exact test.
It is especially helpful to explain which layers you ruled out before touching control gains.