Fix PDController

[timtmit]

use pinocchio::difference in pd controller to handle SO2 joint

[nim65s]

Hi @timtmit,

There are some failing tests in the ROS CI, and I also have those 2 failures locally:

The following tests FAILED:
	 1 - test_pd_controller (Failed)
	 2 - test_linear_feedback_controller (Failed)

Did you check that ?

Nix CI is also outdated, so you may need to rebase to fix that one (I can do that for you if you prefer)

[timtmit]

Hi @timtmit,

There are some failing tests in the ROS CI, and I also have those 2 failures locally:

The following tests FAILED:
	 1 - test_pd_controller (Failed)
	 2 - test_linear_feedback_controller (Failed)

Did you check that ?

Nix CI is also outdated, so you may need to rebase to fix that one (I can do that for you if you prefer)

Hi @nim65s, sorry about that, I completely forgot about this PR and didn’t pay attention to the CI when I opened it.
I’ll take a look at the failing tests and fix everything this week. Thanks for pointing it out!