TorqueFeedforward improvements

ADVRHumanoids / CartesianInterface

Package for generic cartesian control of floating base robots. It includes a ROS-based front end, as well as a programmatic API that can be used inside a real-time loop.

GNU General Public License v3.0

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TorqueFeedforward improvements #43

Open matteoparigi opened 4 years ago

matteoparigi commented 4 years ago

Fixed compensation of IMU rotation offset
Fixed bug in service to change link orientation

Changes in branch issue#43 @alaurenzi

alaurenzi commented 4 years ago

I'm writing a force-level solver supporting YAML configuration as the IK, I'll keep you posted!