Control the root link height instead of the CoM and avoid to use the DCM controller #93
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What would be the plan? Can we simply add some flags and move on? |
…for using same parameters of dcm_walking_with_joypad
…w (Commented for the time being)
…alse fail to switch control mode.
Co-authored-by: Giulio Romualdi <giulio.romualdi@gmail.com>
Co-authored-by: Giulio Romualdi <giulio.romualdi@gmail.com>
Use the telemetry logger in the WalkingModule
Clean the hacks introduced when controlling the root link
GiulioRomualdi
requested review from
S-Dafarra,
isorrentino and
paolo-viceconte
and removed request for
S-Dafarra
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Go for me! |
S-Dafarra
approved these changes
Jan 12, 2022
isorrentino
approved these changes
Jan 12, 2022
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This PR should substitute #90
Furthermore, in this commit 37d4bc8 the DCM controller has been disabled and the ZMP computed by the planner is used the CoMZMP controller
cc @isorrentino @S-Dafarra @paolo-viceconte