Open ibergonzani opened 1 year ago
This PR correct the behavior of com admittance once the robot is rotated about z-axis world axis. Related to issue #122.
Cop error is now rotated in robot frame and gains are then applied. Finally the correction of the com is bring back in world frame.
This PR correct the behavior of com admittance once the robot is rotated about z-axis world axis. Related to issue #122.
Cop error is now rotated in robot frame and gains are then applied. Finally the correction of the com is bring back in world frame.