sot-talos-balance merge requestshttps://gepgitlab.laas.fr/loco-3d/sot-talos-balance/-/merge_requests2019-04-28T11:58:49Zhttps://gepgitlab.laas.fr/loco-3d/sot-talos-balance/-/merge_requests/12Adding 10cm and 20cm walks2019-04-28T11:58:49ZOlivier StasseAdding 10cm and 20cm walksCurrently we have the two spectrums:
* 10cm is working without fall (unstable at the beginning and at the end)
* 20cm is not working (falling after 4 steps)
* Do not use the desired ZMP, as observed by Gabriele (and Kaneko before) it ...Currently we have the two spectrums:
* 10cm is working without fall (unstable at the beginning and at the end)
* 20cm is not working (falling after 4 steps)
* Do not use the desired ZMP, as observed by Gabriele (and Kaneko before) it is better to control over the real multibody ZMP than the reference. The dynamic consistency is better.
To start the motion:
```
python test_dcmZmpControl_file.py TestKajita2003StraightWalking64/10cm
```
or
```
python test_dcmZmpControl_file.py TestKajita2003StraightWalking64/20cm
```Gabriele BuondonnoGabriele Buondonno