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In the iROS HEBI tutorial of motion control, it is mentioned that when using strategy 4, we can disable effort feedback in effort PID, as shown in the graph attached.
But how do we disable it? There is no configuration for feed_backward in gain configuration, either in xml format or in Scope tool.
Thanks a lot
BTW, the tutorial in iROS is very helpful.

<group_gains>
<control_strategy>4</control_strategy>
<effort>
<kp>0.25</kp>
<ki>0</ki>
<kd>0.001</kd>
<feed_forward>1</feed_forward>
<dead_zone>0</dead_zone>
<i_clamp>0.25</i_clamp>
<punch>-0</punch>
<min_target>-10</min_target>
<max_target>10</max_target>
<target_lowpass>1</target_lowpass>
<min_output>-1</min_output>
<max_output>1</max_output>
<output_lowpass>0.9</output_lowpass>
<d_on_error>0</d_on_error>
</effort>
</group_gains>

You can "disable" the effort feedback portion by only using the FeedForward term (=1) and setting Kp,Kd,Ki to zero. This way the torque controller serves as a unit conversion from actuator specific units to Nm/rad.

Yes, of course!! It makes sense.
Thanks a lot