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ami-iit / bipedal-locomotion-framework

Suite of libraries for achieving bipedal locomotion on humanoid robots
https://ami-iit.github.io/bipedal-locomotion-framework/
BSD 3-Clause "New" or "Revised" License
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Implement joint torque control device #853

Open isorrentino opened 3 weeks ago

isorrentino commented 3 weeks ago

This PR integrates the JointTorqueControlDevice in BLF. The original implementation can be found in https://github.com/ami-iit/element_torque-control-via-current/tree/ae578859850ac83d8646a8536bb59999a6f60b8f/device/motorCurrentControl. I moved the device here to have it in a maintained repo.

The device introduces the possibility of running joint torque control on the top of the ICurrentControl interface or in general a control mode on top of another. Here is also an example of how to use the device on a real robot or on a fake robot.

Note that the PR has to be tested on the real robot.

isorrentino commented 3 weeks ago

What's happening to the Changelog Checker?

isorrentino commented 3 weeks ago

Today I tested the device on the robot and it works fine. I'm going to add some modifications to this device but I'll merge them in a new PR.

GiulioRomualdi commented 3 weeks ago

So we can merge this?

isorrentino commented 3 weeks ago

yes