Commit db24c7c5 authored by andreadelprete's avatar andreadelprete
Browse files

[python] Do not use noisy velocity estimations for estimating base velocity

parent e13deb15
......@@ -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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