Add the possibility to set the fixed joint configuration in balancing-torque-control app #880
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…-torque-control app
GiulioRomualdi
changed the title
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Cool! |
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It would be cool to read the values of fixed joints from YARP as well, but I know that it is more complex to do that, this is already a great solution! |
traversaro
approved these changes
Sep 6, 2024
You are right. I approached the problem this way because, in the case of a fixed torso pitch with a pin, the value provided by the encoder is inaccurate since the joint is not properly configured |
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It make sense! |
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This PR adds the possibility to specify the position of a non-controlled joint in the balancing torque control app. This is possible thanks to robotology/idyntree#1180 and robotology/idyntree#1174.
Given that, blf now requires iDynTree v12.2.1
cc @traversaro and @fils99