Embedded Fixes for Speeding up Control Loop#908

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lkunelk wants to merge 13 commits intomasterfrom js_new

+3,891-1,257

Commits on Dec 4, 2024

added states to bez. fixed pybullet camera and tried to align with webots and reallife but needs more tuning. added a soccerball to pybullet world. added camera link to assembly placo urdf. minor e…
manx52
committed

Commits on Dec 5, 2024

moved ball to where bez is loaded. added a groundtruth get ball. speed up pybullet. properly enable head movement. tuned pid for nav on the new robot. created a new test that has nav without it own…
manx52
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Commits on Dec 7, 2024

Commits on Dec 8, 2024

merged fron other branches
manx52
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Commits on Dec 9, 2024

finally finished getupfront
manx52
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Commits on Dec 10, 2024

made getupback faster and added an experiemntal kick planner
manx52
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Commits on Dec 11, 2024

getupback and rigth kick is finished
manx52
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Commits on Jan 4, 2025

finally walks
manx52
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Commits on Jan 19, 2025

aligned the transforms for getting the camera height to use the links on the real robot will be renamed to be in line with everything else. added some quality of life improvements from js_strat for…
manx52
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Commits on Jan 20, 2025

in firmware, I added a sync write function and this speeds up the loop by double, going from 120hz to 250hz for the imu and joint states. Experimented with 2mbs baud rate but was getting a lot more…
manx52
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Commits on Jan 25, 2025

fixed the tf tree by editing the xacro to move properly. tuned the walking pid, tuned the trajectory and ready for video
manx52
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Commits on Mar 1, 2025

added some stuff to work
manx52
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