[Question] How to Tune the DifferentialIKController

[amatsukaze233]

Question

When tuning the DifferentialIKController, it can get stuck when calculating a distant target position. It would be helpful to set up an alert for target points that are out of the working range.
actuators={ "joint": ImplicitActuatorCfg( joint_names_expr=["joint[1-6]"], velocity_limit=6.0, stiffness=1e5, damping=1e3, ),
diff_ik_cfg = DifferentialIKControllerCfg(command_type="pose", use_relative_mode=False, ik_method="dls")