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Stack Of Tasks
sot-torque-control
Commits
db24c7c5
Commit
db24c7c5
authored
Dec 12, 2017
by
andreadelprete
Browse files
[python] Do not use noisy velocity estimations for estimating base velocity
parent
e13deb15
Changes
1
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python/dynamic_graph/sot/torque_control/main.py
View file @
db24c7c5
...
...
@@ -99,8 +99,8 @@ def main_v3(robot, startSoT=True, go_half_sitting=True, conf=None):
plug
(
robot
.
encoders
.
sout
,
robot
.
encoder_filter
.
x
)
plug
(
robot
.
encoder_filter
.
dx
,
robot
.
current_ctrl
.
dq
);
plug
(
robot
.
encoder_filter
.
dx
,
robot
.
torque_ctrl
.
jointsVelocities
);
plug
(
robot
.
encoder_filter
.
x_filtered
,
robot
.
base_estimator
.
joint_positions
);
plug
(
robot
.
encoder_filter
.
dx
,
robot
.
base_estimator
.
joint_velocities
);
#
plug(robot.encoder_filter.x_filtered, robot.base_estimator.joint_positions);
#
plug(robot.encoder_filter.dx, robot.base_estimator.joint_velocities);
robot
.
ros
=
RosPublish
(
'rosPublish'
);
robot
.
device
.
after
.
addDownsampledSignal
(
'rosPublish.trigger'
,
1
);
...
...
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