The sot-torque-control entity BaseEstimator has been created to estimate the state of the floating base of HRP-2. However, the same entity can also be used on Pyrene. The main difference is that Pyrene does not have a flexibility below the ankles as HRP-2. We can easily account for this by setting a very large value for the flexibility stiffness used by the BaseEstimator.
The sot-torque-control entity BaseEstimator has been created to estimate the state of the floating base of HRP-2. However, the same entity can also be used on Pyrene. The main difference is that Pyrene does not have a flexibility below the ankles as HRP-2. We can easily account for this by setting a very large value for the flexibility stiffness used by the BaseEstimator.