Modify RDE device and JointTorqueControlDevice to solve bugs while testing on the robot #921
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isorrentino
requested review from
GiulioRomualdi and
S-Dafarra
as code owners
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cc @LoreMoretti |
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This PR fixes several problems discovered while testing the two devices (RDE and JTC) on the robot.
In addition, it adds a KF in the JTC device to compute the motor and joint velocities to avoid using the one coming from the low-level.