Closed kouroshD closed 4 years ago
The code location for the implementation: https://github.com/kouroshD/walking-teleoperation/tree/feature/addLogger_develRebased
Related issue: https://github.com/dic-iit/lab-events-demos/issues/114 We have done the implementation both in Walking Controller and Oculus Teleoperation. So, We close this issue.
Currently, when we start retargeting, the robot start immediately imitating the human pose. Therefore, at the beginning when there is high error between human and robot configuration, cause fast motion of the robot. Therefore, we should add a minJerkTrajectory in the walking controller, at the beginning of the retargeting to avoid such behavior. cc @GiulioRomualdi