This pull request contains mainly two changes:
1) Update the documentation
2) Set a fixed sampling rate (defined in the robot side script) for the controllers. This change is helpful to be able to control the robot with a torque references.
controllers inverse_dynamics_JL and gravity_compensation where tested
This pull request contains mainly two changes: 1) Update the documentation 2) Set a fixed sampling rate (defined in the robot side script) for the controllers. This change is helpful to be able to control the robot with a torque references. controllers inverse_dynamics_JL and gravity_compensation where tested