resolve friction conpensation edge case

kroshu · Aug 6, 2024 · ed4c32e · ed4c32e
1 parent 41dc3ce
commit ed4c32e
Showing 1 changed file with 4 additions and 0 deletions.
diff --git a/kuka_sunrise_fri_driver/src/hardware_interface.cpp b/kuka_sunrise_fri_driver/src/hardware_interface.cpp
@@ -472,6 +472,10 @@ void KukaFRIHardwareInterface::activateFrictionCompensation(double * values) con
     {
       values[i] -= (values[i] / fabs(values[i]) * 0.1);
     }
+    else
+    {
+      values[i] -= 0.1;
+    }
   }
 }