From ed4c32e03815616c89e9bf81ec9ee278061746d5 Mon Sep 17 00:00:00 2001
From: Kristofi Misi <krmihaly42@gmail.com>
Date: Tue, 6 Aug 2024 17:00:46 +0200
Subject: [PATCH] resolve friction conpensation edge case

---
 kuka_sunrise_fri_driver/src/hardware_interface.cpp | 4 ++++
 1 file changed, 4 insertions(+)

diff --git a/kuka_sunrise_fri_driver/src/hardware_interface.cpp b/kuka_sunrise_fri_driver/src/hardware_interface.cpp
index 61902efe..dab061e0 100644
--- 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;
+    }
   }
 }