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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
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Topic/improve force distrib #375

Closed antodld closed 1 year ago

antodld commented 1 year ago

This PR contains two updates: [CopTask] -The reference CoP apply a torque w.r.t the target CoP using the measured vertical force instead of the desired one. An option is now available to switch between using desired or measure vertical force. -The StabilizerTask now uses the desired vertical force to compute the desired torque

[StabilizerTask WrenchDistribution] -The force distribution on an horizon is now updated at the sampling rate of the given references

gergondet commented 1 year ago

Thanks Antonin.

I have addressed the last remaining comment myself and I'll merge this when the CI passes :)