For the implementation, as now getTorque actually return the torque that the output shaft of the transmission is applying to the mechanical structures, it make sense that getCurrents instead returns the "motor torque", divided by the k_tau or similar constant.
traversaro
commented
6 months ago
We already knew about this (see https://github.com/robotology/gz-sim-yarp-plugins/blob/6b25488fb793743ff90d00d9c9184e7e86f5031c/plugins/controlboard/src/ControlBoardDriver.cpp#L1368-L1377), but I just wanted to open a dedicated issue as this would be useful for @carloscp3009 .
For the implementation, as now
getTorqueactually return the torque that the output shaft of the transmission is applying to the mechanical structures, it make sense thatgetCurrentsinstead returns the "motor torque", divided by the k_tau or similar constant.