search

resibots / inria_wbc

Generic whole-body controller based on quadratic programming
14 stars 0 forks source link

yaml and deterministic tests #45

Closed dalinel closed 2 years ago

dalinel commented 3 years ago

@Timothee-ANNE has remarked that test_controller was not deterministic anymore The issue seems to be that according to the order of the tasks in the yaml files we don't exactly have the same q output The momentum task also generates non deterministics results, we need to check if those issue are linked

We should also add a test to check determinism

dalinel commented 2 years ago

Determinism has been checked without the robot_dart and hence closed loop stabilization part