Added meta joints and inverse kinematics. The neck works fine but the legs and arms don't work that great.
Umm stuff
Bad stuff
Added the ability to get zmp info
Removed the filter that didn't work..yet
Made some changes but I don't know if I broke things or open rave broke
Slowed down the default joints
Fixed it
Got good zmp on hardware, still unsteady in simulation. I commented the zmp code
Updated so that actual positions return
Added a balance controller to maestor. Right now it is very ugly and messy but I am going to clean it up. It compiles and prints all of the rainbow calculations in a nice log file called log.log.log
Finally made it so that the arm IK works. Sort of. It still likes to scream a bunch of errors at me and yell and holler. I also noticed that meta joints control regular joints and don't allow anyone else. I need to fix that
Added in walking capabilities. Needs a lot of testing on hardware but works in simulation
One leg Balancing worksgit add oneLegBalance.py
Increased the walking sway
working on the walk
maybe
Made some changes to walk and removed something that shouldn't have been tracked
Made changes so that the console doesn't show up wherever you run console
Cleared out some commented code and added in some active balancing. Going to test on hardware. seems to work in simulation