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walking-controllers v0.4.0 (2020-12-01)
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@GiulioRomualdi GiulioRomualdi released this 01 Dec 11:30
· 343 commits to master since this release
v0.4.0
44d2d4c
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Learn about vigilant mode.

Added

  • Adding the possibility to use Gazebo base data inside the walking controller
  • TrajectoryGenerator class of the TrajectoryPlanner library includes now
    the method getWeightPercentage to retrieve the amount of weight on each foot
    requested by the planner.

Changed

  • Adding the use_external_robot_base parameter inside the dcm_walking_with_joypad.ini
  • Adding the Gazebo base data port inside the robotControl.ini
  • Tunning the zmpControllerParams.ini and dcmReactiveControllerParams.ini
  • Modifying the follwoing classes for geting and using Gazebo base data:
    • /KinDynWrapper/Wrapper
    • RobotInterface/Helper
    • TrajectoryPlanner/TrajectoryGenerator
    • WalkingModule
  • Tune gains for iCubGenova04
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