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erwincoumans / motion_imitation

Code accompanying the paper "Learning Agile Robotic Locomotion Skills by Imitating Animals"
Apache License 2.0
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Forces doubt #60

Closed RodrigoMA93 closed 3 years ago

RodrigoMA93 commented 3 years ago

You did a wonderful job in your repository of locomotion_controller_example. I was analizing your code and I had the doubt that if the contact forces of torque_stance_leg_controller are calculated with the archive mpc_osqp.cc.

I send you my greetings and I hope that you can answer my question. Selección_022

erwincoumans commented 3 years ago

Yes, the ground reaction forces are computed using the qp solver. The robot should walk fine using those forces.