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Reduce oscillations in pitchmass #58

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Reduce oscillations in pitchmass #58

wants to merge 1 commit into from

Commits on Nov 3, 2021

  1. This commit submits 2 changes. The first is to shift the center of ma… 

    …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]>
    @arjo129
    arjo129 committed Nov 3, 2021
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