Closed JessyVision closed 5 years ago
Manuel proposed to add a controller to smooth the wall grasp transition between slide and hand_close. An option could be a joint controller with low gains to fulfil the locking function.
The fix was merged to master with PR #57
It can be turned on/off by using the soften_impact parameter in handarm_parameters.py
soften_impact
Manuel proposed to add a controller to smooth the wall grasp transition between slide and hand_close. An option could be a joint controller with low gains to fulfil the locking function.