search

jrl-umi3218 / mc_rtc

mc_rtc is an interface for simulated and real robotic systems suitable for real-time control
BSD 2-Clause "Simplified" License
122 stars 37 forks source link

[StabilizerTask] Fix frames of forces and velocities in foot force difference control #290

Closed mmurooka closed 2 years ago

mmurooka commented 2 years ago

This should fix https://github.com/jrl-umi3218/mc_rtc/issues/289

I've confirmed that the JVRC1 robot can walk in lipm_walking_controller in Choreonoid with this patch.

However, there is no explicit confirmation that this fixes the bug https://github.com/jrl-umi3218/mc_rtc/issues/289 effectively. (It is also not clear how to identify bugs from the robot's behavior and logs in the first place.)