Add support for disabling torque via hardware parameter#106
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Maverobot wants to merge 2 commits intodynamixel-community:rollingfrom
Open
Add support for disabling torque via hardware parameter#106Maverobot wants to merge 2 commits intodynamixel-community:rollingfrom
Maverobot wants to merge 2 commits intodynamixel-community:rollingfrom
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…meter type - Changed the `on_init` function signature to accept `HardwareComponentInterfaceParams`
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Summary
This PR adds support for optionally disabling torque in the Dynamixel hardware interface. This feature is necessary for implementing a teleoperation setup where one robotic arm (the leader) is manually guided and the other (the follower) mimics its movements.
Motivation
In the teleoperation setup, we use two Dynamixel-based robotic arms:
The current Dynamixel hardware interface always enables torque on startup and after control mode changes, which prevents passive operation for the leader arm.
Changes Introduced
enable_torquehardware parameter (defaults totrue).should_enable_torque_flag to control torque behavior.Related Project
Teleoperation setup repository: koch-v1-1