Restructure the balancing-position-control script #716
Conversation
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
GiulioRomualdi
changed the title
GiulioRomualdi
force-pushed
the
balancing_position
branch
from
41cc906
to
4152ba7
Compare
|
Before merge it I will add the white line at the end of the files |
S-Dafarra
reviewed
Oct 31, 2023
bindings/python/SimplifiedModelControllers/tests/test_centroidal_mpc.py
Outdated
Show resolved
Hide resolved
GiulioRomualdi
force-pushed
the
balancing_position
branch
2 times, most recently
from
d56d2cb
to
19b34d6
Compare
- Add the possibility to enable and disable the CoM-ZMP controller in the balancing controller - Format the balancing_position_control script with black - Use GlobalCoPEvaluator class to compute the global CoP - 🤖 Update the parameters for ergoCubSN000 and ergoCubGazeboV1
GiulioRomualdi
force-pushed
the
balancing_position
branch
from
19b34d6
to
449ba7e
Compare
S-Dafarra
approved these changes
Nov 2, 2023
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
Add this suggestion to a batch that can be applied as a single commit.
This suggestion is invalid because no changes were made to the code.
Suggestions cannot be applied while the pull request is closed.
Suggestions cannot be applied while viewing a subset of changes.
Only one suggestion per line can be applied in a batch.
Add this suggestion to a batch that can be applied as a single commit.
Applying suggestions on deleted lines is not supported.
You must change the existing code in this line in order to create a valid suggestion.
Outdated suggestions cannot be applied.
This suggestion has been applied or marked resolved.
Suggestions cannot be applied from pending reviews.
Suggestions cannot be applied on multi-line comments.
Suggestions cannot be applied while the pull request is queued to merge.
Suggestion cannot be applied right now. Please check back later.
This PR restructures the balancing-position-controller to give the user the possibility to close the loop on the ZMP. Thanks to this feature it is possible to safety run the balancing controller when the robot is in single support (i.e., only one foot is in contact with the ground)