Joint 7 barely actuated in orientation control (Franka TSID)

[Mahdi-Torabi1997]

Hi,

When running TSID on the Franka Panda, I notice joint 7 barely moves, making it very hard to track end-effector yaw (z-axis rotation). Roll/pitch and translation are fine, but yaw tracking is poor even with high end-effector task weight.

I’ve tried adjusting masks, gains, and weights (posture + SE3 tasks), but the issue persists.

Is this expected in TSID’s formulation, or do I need to bias joint 7 explicitly?

Thanks!