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[iCubgenova09] Increase the frequency of the walking-controller to 500Hz #136

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GiulioRomualdi merged 6 commits into from
Feb 13, 2023
Merged

[iCubgenova09] Increase the frequency of the walking-controller to 500Hz #136

GiulioRomualdi merged 6 commits into from
Feb 13, 2023

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@GiulioRomualdi GiulioRomualdi commented Feb 13, 2023 •
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This PR starts from #132 and #130 and it removes the code for streaming the FT data. In details:

  • increase the Frequency of the walking controller to 500Hz (for iCubGenova09). Given that we had to modify the some safety logic for instance:
    • We increase the ZMP counter 920b694
    • Add the possibility to change the timeout behaviors to get the feedback 237a777

This PR brings also a new set of gains that have been widely tested during the last period

After this PR we can close #130 while we can keep #132 for the demos

@GiulioRomualdi GiulioRomualdi self-assigned this Feb 13, 2023
@GiulioRomualdi GiulioRomualdi mentioned this pull request Feb 13, 2023
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@GiulioRomualdi GiulioRomualdi changed the title Increase frequency [iCubgenova09] Increase the frequency of the walking-controller to 500Hz Feb 13, 2023
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GiulioRomualdi commented Feb 13, 2023

Thank you @S-Dafarra

@GiulioRomualdi GiulioRomualdi merged commit 2872a32 into master Feb 13, 2023
@GiulioRomualdi GiulioRomualdi deleted the increase_frequency branch February 13, 2023 15:14
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@S-Dafarra S-Dafarra S-Dafarra approved these changes

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