Draft: Ensure Clean Exit Behavior of Zero-Torque Skill (!71) · Merge requests · Software / ArmarX / Skills / Control · GitLab

Tilman Daab requested to merge fix/zero-torque-skill into main Sep 18, 2024

Addressing the remarks in https://git.h2t.iar.kit.edu/sw/armarx-integration/robots/armar7/documentation/-/issues/128 that are related to the zero-torque skill:

Reduce frequency of logging
Improve expressiveness of logging
Terminate if controller gets deactivated by external actions
Improve robustness of clean-up