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Reimplement computeTorque() for Accurate B1 Motor Simulation #89

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Reimplement computeTorque() for Accurate B1 Motor Simulation #89

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Reimplement computeTorque() to remove ±55Nm clamp
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@paulblum
paulblum committed Feb 27, 2024
commit 0ec2c9cfb9e3a058c4ad33c50a1461dbe6ed6859
3 changes: 2 additions & 1 deletion unitree_legged_control/src/joint_controller.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -177,7 +177,8 @@ namespace unitree_legged_control

currentPos = joint.getPosition();
currentVel = computeVel(currentPos, (double)lastState.q, (double)lastState.dq, period.toSec());
calcTorque = computeTorque(currentPos, currentVel, servoCmd);
calcTorque = servoCmd.torque + servoCmd.posStiffness*(servoCmd.pos - currentPos)
+ servoCmd.velStiffness*(servoCmd.vel - currentVel);
effortLimits(calcTorque);

joint.setCommand(calcTorque);
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