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[StabilizerTask] Missing transformation in foot force difference control #289

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arntanguy opened this issue Sep 8, 2022 · 0 comments · Fixed by #290
Closed

[StabilizerTask] Missing transformation in foot force difference control #289

arntanguy opened this issue Sep 8, 2022 · 0 comments · Fixed by #290
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@arntanguy
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As reported in stephane-caron/lipm_walking_controller#72, we are missing a transformation: velocities are computed in sole frame instead of inertial frame.
This is similar to jrl-umi3218/lipm_walking_controller#29
arntanguy added a commit that referenced this issue Sep 8, 2022
@arntanguy
[stabilizer/bug] Point out bug in foot force difference control
be0b077 
See #289
@arntanguy arntanguy added the bug Something isn't working label Sep 8, 2022
mmurooka added a commit to mmurooka/mc_rtc that referenced this issue Sep 9, 2022
@mmurooka
[StabilizerTask] Fix frames of foot forces and velocities in foot for…
72f45b2 
…ce difference control.

This should fix jrl-umi3218#289
@mmurooka mmurooka mentioned this issue Sep 9, 2022
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arntanguy added a commit to mehdi-benallegue/mc_rtc that referenced this issue Nov 1, 2022
@arntanguy
[stabilizer] Remove outdated comment
fac9a21 
Fixed by jrl-umi3218#289
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@arntanguy