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ihmcrobotics / ihmc-open-robotics-software

Robotics software featuring legged locomotion algorithms and a momentum-based controller core with optimization. Supporting software for world-class robots including humanoids, running birds, exoskeletons, mechs and more.
https://robots.ihmc.us
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Feature/refactor pd controller #332

Closed rjgriffin42 closed 1 month ago

rjgriffin42 commented 1 month ago

The differences between the different implementations of the same PD controller have always bothered me, so I fixed it here.