Add PositionToJointController and PositionToTorqueController#1003
Merged
GiulioRomualdi merged 3 commits intomasterfrom Oct 1, 2025
Merged
Add PositionToJointController and PositionToTorqueController#1003GiulioRomualdi merged 3 commits intomasterfrom
GiulioRomualdi merged 3 commits intomasterfrom
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GiulioRomualdi
commented
Sep 30, 2025
GiulioRomualdi
commented
- Introduced PositionToJointController as a base class for joint controllers.
- Implemented PositionToCurrentController and PositionToTorqueController inheriting from PositionToJointController.
- Updated input structures to use PositionToJointControllerInput for consistency.
- Added necessary bindings for Python integration.
- Created unit tests for PositionToTorqueController covering initialization, basic control, torque limiting, and input validation.
- Removed obsolete PositionToCurrentController header from RobotInterface.
- Introduced PositionToJointController as a base class for joint controllers. - Implemented PositionToCurrentController and PositionToTorqueController inheriting from PositionToJointController. - Updated input structures to use PositionToJointControllerInput for consistency. - Added necessary bindings for Python integration. - Created unit tests for PositionToTorqueController covering initialization, basic control, torque limiting, and input validation. - Removed obsolete PositionToCurrentController header from RobotInterface.
Removed comment about optional current limit and friction.
S-Dafarra
approved these changes
Oct 1, 2025
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