Bartek Łukawski

> This issue addresses the former, while [roboticslab-uc3m/yarp-devices#188](https://github.com/roboticslab-uc3m/yarp-devices/issues/188) will add low-level support for the latter. As a result, the maximum joint velocity (`cpjv`) parameter shall be removed. Done at https://github.com/roboticslab-uc3m/kinematics-dynamics/commit/89020afa781ec6d57db4ab911414f2d4014207cc,...

Besides, `ICartesianControl::pose` might no longer make sense, anymore, as `movi` is now the preferred way to accept position-based targets.

Proposed control scheme: * Input 1: desired instantaneous cartesian velocity. * Input 2: expected pose (cartesian position) on the previous `twist` command. * Input 3 (feedback): current cartesian pose. Similarly...

Not doing. This has been superseded by CSV mode (https://github.com/roboticslab-uc3m/yarp-devices/issues/221). Also, the reason why the arm was bending down could've been that the default `IVelocityControl` implementation (i.e. "velocity profile" at...

This is easier to accomplish on AmorControlBoard since we have dedicated API methods for controlling the gripper. On the other hand, BasicCartesianControl connects (as of its current implementation) to a...

My current concept for the future actuator-related method in the `ICartesianControl` interface is the following signature: `bool act(int command);` Where `command` would evaluate to one vocab of the following new...

WIP at the `amor-cc-actuator` branch (locally) to get a first insight of this interface working on AMOR. As noted before, broader changes are required to accomplish this in the generic...

> That said, the remote fetch solution would entail changes in the yarp-devices repository. Marking as blocked.

Update: I'm not convinced anymore about the IRemoteVariables interface, see https://github.com/roboticslab-uc3m/yarp-devices/issues/198#issuecomment-495322968. Also, the upstream work on yarp-devices would imply https://github.com/roboticslab-uc3m/yarp-devices/issues/211. @jgvictores OK to merge amor-cc-actuator branch into develop as a...

> Update: I'm not convinced anymore about the IRemoteVariables interface, see [roboticslab-uc3m/yarp-devices#198 (comment)](https://github.com/roboticslab-uc3m/yarp-devices/issues/198#issuecomment-495322968). Also, the upstream work on yarp-devices would imply [roboticslab-uc3m/yarp-devices#211](https://github.com/roboticslab-uc3m/yarp-devices/issues/211). Note: https://github.com/roboticslab-uc3m/yarp-devices/issues/20 will enable arbitrary CAN bus +...