As per the title, the physical tripod interface of the wrist doesn't allow any velocity control, whereas the position-direct mode is perfectly working.
We didn't experience any trouble with commanding the physical tripod of the torso in velocity, though.
Fixed. The setVelocity command wasn't refreshing the timeout value on Rx. The bug was already fixed, but the fw wasn't updated in the forearms as it was in the torso.
As per the title, the physical tripod interface of the wrist doesn't allow any velocity control, whereas the position-direct mode is perfectly working.
We didn't experience any trouble with commanding the physical tripod of the torso in velocity, though.
cc @randaz81