[iCubgenova09] Increase the frequency of the walking-controller to 500Hz #136
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- low level pid - planner - com-zmp controller - ik tasks (regularization and retargeting)
GiulioRomualdi
changed the title
S-Dafarra
approved these changes
Feb 13, 2023
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Thank you @S-Dafarra |
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This PR starts from #132 and #130 and it removes the code for streaming the FT data. In details:
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