Task energy #13
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Task energy #13
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…entity Add trajectory files from multicontactAPI to use them as references. Add scripts to launch the sot-torque-control inverse_dynamic_balance_controller entity with AM task.
Working simulations removing and adding feet contacts in torque control. Quasistatic walking using Pierre's multicontact_api trajectories in torque control.
Topic/tsid am task
…ons, better paths and arguments reading
…nstructions, better paths and arguments reading" This reverts commit d3973b8.
Topic/tsid am task
…skComAdm Set the AM desired trajectories to 0 (regularization).
To have the feed-forwards terms in the entity inverse-dynamic-balance-controller
added 19 commits March 11, 2021 15:57
…-balance Warning platforms walk is no more working: slippage on 2nd tilted platform
To respect the proof of semi-positive definition of Lambda * K_p K_p needs to have equal elements on its diagonal
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Add handling of the energy task added in TSID (described here PR155) and of the contactForceTask.
This PR is linked to the one in sot-torque-control PR85:
Adding the AM task in the inverse-dynamic-balance-controller.
Create a simple formulation with a single posture task (and contact tasks).
Refactor TrajectorySample::pos, vel, acc as in TSID.
Add proper gains for contactForceTask.