Add joint_position_tau parameter for smoother joint control and update related configurations

2026-05-14 11:40:04 +10:00
parent 302eb3d8d7
commit c3d1de7b01
12 changed files with 74 additions and 11 deletions
@@ -66,6 +66,7 @@ def _runtime_setup(context, *args, **kwargs):
            "fri_port": str(settings.robot.port),
            "simulate": "false",
            "command_mode": settings.robot.command_mode,
+            "joint_position_tau": str(settings.robot.joint_position_tau),
        }
        use_sim_time = False

@@ -170,6 +171,7 @@ def _runtime_setup(context, *args, **kwargs):
            "command_mode": settings.robot.command_mode,
            "controller_timer": str(settings.digital_twin.webots.controller_timer),
            "fri_cycle_ms": str(settings.robot.fri_cycle_ms),
+            "joint_position_tau": str(settings.robot.joint_position_tau),
        }

    controllers_launch = IncludeLaunchDescription(