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Wrong contact force estimation on centauro #4

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IoannisDadiotis opened this issue Aug 5, 2022 · 0 comments
Open

Wrong contact force estimation on centauro #4

IoannisDadiotis opened this issue Aug 5, 2022 · 0 comments
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@alaurenzi @IoannisDadiotis

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IoannisDadiotis commented Aug 5, 2022 •
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This is to keep track of and reminder for what we observed with @alaurenzi on Centauro.

The contact force estimation within the centauro_base_estimation_node (branch ioannis-centauro) was completely off. The problem was not on torque sensing of the hardware since we checked other force estimation ros nodes and they were found to make sense.
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@alaurenzi @IoannisDadiotis