Add velocityThres param for torque control #3010
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randaz81
requested changes
Aug 30, 2023
CMakeLists.txt
Outdated
| @@ -17,7 +17,7 @@ endif() | |||
| # Main project | |||
| project( | |||
| YARP | |||
| VERSION 3.8.1 | |||
| VERSION 3.8.2 | |||
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This should be never modified by a PR. It is handled by the release script
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Additionally, the breaking change introduced by this PR will trigger the release of Yarp 3.9.0
(and not 3.8.2)
randaz81
added
Component: Library - YARP_dev
Component: Devices
Type: Breaking/Behaviour Change
randaz81
approved these changes
Aug 31, 2023
Merged
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What's new:
velocityThresparameter used during torque control for friction compensation. This parameter is used to enable the new torque control law and fine-tune the friction compensation based on velocity feedback at FW level.