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Add Angular Momentum task & use base-estimator entity to achieve walk in torque control #10
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added 7 commits
April 6, 2020 16:18
…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.
added 7 commits
June 16, 2020 10:59
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I fix the tests and clean the create_entities_utils_talos.py |
Topic/tsid am task
…ons, better paths and arguments reading
…nstructions, better paths and arguments reading" This reverts commit d3973b8.
Topic/tsid am task
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This PR is linked to the one in sot-torque-control (see #75).
Contains also a simulation test which achieve "bell step" (foot following a sinusoidal trajectory in the air) in torque control.
Add documentations.