Upkie 3.1.0: Feedforward torques #178
stephane-caron
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This release update the
UpkieServos
Gymnasium environment to dictionary action and observation spaces, enabling feedforward torques and direct torque control. A newwheeled_balancing_torque_control.py
example is added to illustrate this control mode.Added
UpkieServos
environmentChanged
start_pid_balancer.sh
totry_pid_balancer.sh
"spine_observation"
in all environmentsUpkieServos
env to dictionary action and observationThis discussion was created from the release v3.1.0.
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