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Update config
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@dmronga
dmronga committed Jun 26, 2023
1 parent bee192e commit bbb082d
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245 changes: 122 additions & 123 deletions tutorials/recupera_exo/config/wbc::LoopBackDriver.yml
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Original file line number Diff line number Diff line change
Expand Up @@ -152,128 +152,127 @@ initial_joint_state:
"right_leg_feet_lever_6_pitch_joint",
"right_leg_feet_lever_6_cut_joint"]

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# no documentation available for this property
noise_std_dev: 1e-4
noise_std_dev: 0
2 changes: 1 addition & 1 deletion tutorials/recupera_exo/velocity/single_leg_pos_ctrl.rb
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Original file line number Diff line number Diff line change
Expand Up @@ -50,7 +50,7 @@
target_pose.pose.position = Types.base.Vector3d.new(0.1*Math.sin(delta),0.12,-0.82) # Position
target_pose.twist.linear = Types.base.Vector3d.new(0.1*Math.cos(delta),0,0) # Feed forward velocity. This will improve trajectory tracking
pose_writer.write(target_pose)
delta += 0.05
delta += 0.02
end
timer.start(10)

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