Ankle only FSM controller #434
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@matteo-crotti I'd suggest using your log within a context manager as well. That way the close method is always called |
Done. Let me know if it's ok. |
tkevinbest
reviewed
Jun 25, 2025
| osl.ankle.set_impedance_gains() | ||
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| for t in clock: | ||
| with fsm_logger: |
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I would modify this to one line with the next with block
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Looks good to me. Has this been tested on hardware to make sure all the gains set work well? Also some checks are still failing. |
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Tested the ankle only FSM (may require some subject specific tuning) but overall it is good and ready to merge. |
VarunSatyadevShetty
approved these changes
Jul 8, 2025
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Hi, I added a Python controller for the OSL ankle implementing an FSM impedance control.