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robotology-legacy / codyco-modules

Whole-body Compliant Dynamical Contacts in Cognitive Humanoids
www.codyco.eu
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Add useJointVelocity and useJointAcceleration options #262

Closed traversaro closed 6 years ago

traversaro commented 6 years ago

Useful as a workaround if there are bugs or problems in the measurements reported by YARP controlboard in the getEncoderSpeeds or getEncoderAccelerations, such as it was happening in https://github.com/robotology/codyco-modules/issues/261 .

@gabrielenava can you check if it is working as intended? Thanks!

traversaro commented 6 years ago

This can be useful also if the joint velocities measurements are noisy, as observed by @nunoguedelha and @gabrielenava on the iCubGenova04 robot.

traversaro commented 6 years ago

cc @Yeshasvitvs

traversaro commented 6 years ago

Merged, sorry @gabrielenava for the delay. In the future feel free to ping me on this.

nunoguedelha commented 6 years ago

CC @vibhoraggarwal