Open marcoesposito1988 opened 7 years ago
Since the impedance controller is an EffortController, joint_handles are torque handles; joint_set_point_handles are the position handles.
Initializing the position with the torque (at start probably all zeros) could explain a lot of FRI interpolation errors at startup.
Since the impedance controller is an EffortController, joint_handles are torque handles; joint_set_point_handles are the position handles.
Initializing the position with the torque (at start probably all zeros) could explain a lot of FRI interpolation errors at startup.