Hi. Can the CoM, bwc controllers in the mc_rtc framework be also setup for backward bend bipeds?

isri-aist / BaselineWalkingController

Humanoid walking controller with various baseline methods

https://isri-aist.github.io/BaselineWalkingController

BSD 2-Clause "Simplified" License

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Hi. Can the CoM, bwc controllers in the mc_rtc framework be also setup for backward bend bipeds? #19

Closed Soumya-Saha closed 11 months ago

Soumya-Saha commented 11 months ago

Hi. Can the CoM, bwc controllers in the mc_rtc framework be also setup for backward bend bipeds? Will the centroidalcontrol collection and forcecontrolcollection work?

mmurooka commented 11 months ago

Yes, it works.