control.output¶

Output stages: optional corrections applied, in order, to the torques before they are sent.

None of them is on by default. Each takes the controller’s motor torques u [N·m] and the measurement and returns new torques. Motor angles follow the library convention (θ > 0 pulls).

Functions

`apply`(stages, u, meas)	Run the stages in order.

Classes

`FrictionCompensation`(max_torque, velocity)	Static-friction feed-forward per motor (Stribeck): u + τ_max exp(−(θ̇/v)²) sign(u).
`Pretension`(weights[, threshold])	Linear pretension u − W ∘ θ; with `threshold` [rad], only where θ < −threshold.
`StaticFrictionCompensation`(kinetic[, width, ...])	The kinetic friction torque added in the direction of the command, smooth in the command: u + fraction · Fc · u / √(u² + w²).
`TensionFloor`(floor[, width, group])	A floor under the torques of tendons that only pull, so that none is told to push.
`TorqueLimit`(limit)	Clips every command to ±limit [N·m] (scalar or per motor).
`TorqueOffset`(offset)	A constant torque added to every command [N·m], scalar or per motor.