[JTC] Configurable joint positon error normalization behavior (backport #491)#579
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[JTC] Configurable joint positon error normalization behavior (backport #491)#579
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* Use the same variables for state feedback and PID loop * Make joint_error normalization configurable * Activate test for only velocity controller * Allow ff_velocity_scale=0 without deprecated warning * Add test for setpoint due to normalized position error * Update comments in test Co-authored-by: Bence Magyar <bence.magyar.robotics@gmail.com> (cherry picked from commit 67e5d4d)
bmagyar
approved these changes
Apr 23, 2023
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Just as a note: This seems to be breaking the scaled JTC from ur_controllers. When using the |
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