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RethinkRobotics / sawyer_simulator

Gazebo Simulation interface for the Sawyer Robot
http://sdk.rethinkrobotics.com/intera/Gazebo_Tutorial
Apache License 2.0
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Adds SpeedRatio to Position Controller #8

Closed IanTheEngineer closed 7 years ago

IanTheEngineer commented 7 years ago

This adds the emulation of SpeedRatio for the real Sawyer robot's MotorController, where

joint_velocity = speed_ratio max_joint_velocity direction of travel