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Velocity controller preparation for jumping #112

Merged
merged 4 commits into from
May 20, 2021
Merged

Velocity controller preparation for jumping #112

merged 4 commits into from
May 20, 2021

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CarlottaSartore
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@CarlottaSartore CarlottaSartore commented Apr 19, 2021 •
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This PR introduces the following changes for implementing the jumping:

  • Introduction of a constraint for the torso z velocity;
  • Introduction of activation function for torso velocity;
  • Introduction of activation function for holonomic constraint;
  • Angular Momentum as a constraint.

C.C. @VenusPasandi @valentino-razza @gabrielenava

@gabrielenava gabrielenava self-requested a review April 21, 2021 09:05
@gabrielenava gabrielenava self-requested a review May 12, 2021 09:44
@CarlottaSartore
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Added new commit for contact switching in the velocity controller C.C. @gabrielenava

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merging!

cc @CarlottaSartore

@gabrielenava gabrielenava merged commit 2a06947 into robotology:devel May 20, 2021
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@gabrielenava gabrielenava gabrielenava approved these changes

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@CarlottaSartore @gabrielenava