BDI cfg parser precision

Create issue
Issue #55 wontfix
Thomas Koletschka created an issue

As pointed out by Chris[1] the BDI cfg to urdf parser is dropping bits resulting in a loss in precision (although negligible probably, but still not good). The soft limits also shouldn't be set outside the hardware limits.


Comments (2)

  1. John Hsu

    If the soft limits were inside of the hard limtis, the safety controllers will kick-in, adding additional complexity to dynamics of the joint actuation. Not sure if it's a feature we want to use for now.

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