## Develop
create `compile_commands.json`:
´´´
pio run -t compiledb
´´´

# Tuning
```
y rl 125, | y rb
y r 125 reg.pid_velocity 0.001 2.5 0.0 0.01 1000.0 3.0 100.0  && y cmd 125 restart
y pub --period=0.1 \
    10:reg.udral.service.common.readiness '!$ "B(1,1) * 3"' \
    50:reg.udral.physics.dynamics.rotation.planar '{torque: 4, kinematics: {angular_position: NAN, angular_velocity: !$ "A(1,1) * 10"}}'
```