[balance-controller] Bug in ZMP computation

stack-of-tasks / sot-torque-control

Collection of dynamic-graph entities aimed at implementing torque control on different robots.

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[balance-controller] Bug in ZMP computation #1

Closed andreadelprete closed 7 years ago

andreadelprete commented 7 years ago

The balance controller has some output signals for the desired ZMP at each foot (both in local and world frame) and the global ZMP. Currently the ZMP at each foot in local frame seems to work well, but the version in world frame does not make sense. Weirdly enough, testing in simulation everything works, so we need to debug on the robot.

andreadelprete commented 7 years ago

The bug has been fixed by commit a558431ca25f5bf3b4de3dad92788d9809f45079