ForceTorque sensor stores wrenches/IMU sensor improvement #115
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costashatz
changed the title
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IMU sensor returns the angular position. For now this is the ground truth value; in subsequent versions we need to do this closer to what real sensors do. |
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OK for merging asap. |
I'll wait for the CIs to pass.. |
costashatz
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Dec 8, 2021
ForceTorque sensor stores wrenches/IMU sensor improvement
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ForceTorque sensor stores and gives wrenches (in addition to force/torque vectors). One note: force/torque getters make copies now..