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Original file line number | Diff line number | Diff line change |
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@@ -1,5 +1,5 @@ | ||
/** | ||
* @file walkingCommands.thrift | ||
* @file jointTorqueControlCommands.thrift | ||
* @authors Ines Sorrentino <[email protected]> | ||
* @copyright 2024 iCub Facility - Istituto Italiano di Tecnologia | ||
* Released under the terms of the LGPLv2.1 or later, see LGPL.TXT | ||
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@@ -16,6 +16,10 @@ service JointTorqueControlCommands | |
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double getKfcJtcvc(1:string jointName); | ||
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bool setMaxFrictionTorque(1:string jointName, 2:double maxFriction); | ||
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double getMaxFrictionTorque(1:string jointName); | ||
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bool setFrictionModel(1:string jointName, 2:string model); | ||
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string getFrictionModel(1:string jointName); | ||
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