Fix thrJointCompensation control torque sign convention#1310
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Will-Schwend wants to merge 4 commits intodevelopfrom
Open
Fix thrJointCompensation control torque sign convention#1310Will-Schwend wants to merge 4 commits intodevelopfrom
Will-Schwend wants to merge 4 commits intodevelopfrom
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Description
This PR fixes a sign-convention error in the
thrJointCompensationmodule when computing hinge compensation torques.The control-law term was corrected from:
uH = -(Mthb * baseAccel) - jointBias + tauThrto:
uH = (Mthb * baseAccel) - jointBias - tauThrVerification
Updated the
test_thrJointCompensation.pyunit test with the new sign corrections for the control lawDocumentation
Updated:
bskKnownIssues.rstto note that
thrJointCompensationhad an incorrect compensation-torque sign convention and that it is fixed in the current version.Added
1310-thrJointCompensation-control-signto
bskReleaseNotesSnippetsdetailing the changes made to the moduleFuture work
N/A