Reduce oscillations in pitchmass #58
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…ss of the baselink back and move the center of mass of the vehicle forward. This helps resolve some of the spinning in #47. It also is based on the actual positions of the robot. The second change made is an increase in distance between the linkand the center of volume. This helps damp oscillations when running `testPitchMass.xml`. Additionally, this commit updates the pitchmass plots to contain the Error as well as the current Pitch command. Signed-off-by: Arjo Chakravarty <[email protected]>
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This commit submits 2 changes. The first is to shift the center of mass of the baselink back and move the center of mass of the vehicle forward. This helps resolve some of the spinning in #47. It also is based on the actual positions of the robot.
The second change made is an increase in distance between the linkand the center of volume. This helps damp oscillations when running
testPitchMass.xml.Additionally, this commit updates the pitchmass plots to contain the Error as well as the current Pitch command.
Signed-off-by: Arjo Chakravarty [email protected]