Task energy #13
Open
Task energy #13
Conversation
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
…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
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
Add this suggestion to a batch that can be applied as a single commit.
This suggestion is invalid because no changes were made to the code.
Suggestions cannot be applied while the pull request is closed.
Suggestions cannot be applied while viewing a subset of changes.
Only one suggestion per line can be applied in a batch.
Add this suggestion to a batch that can be applied as a single commit.
Applying suggestions on deleted lines is not supported.
You must change the existing code in this line in order to create a valid suggestion.
Outdated suggestions cannot be applied.
This suggestion has been applied or marked resolved.
Suggestions cannot be applied from pending reviews.
Suggestions cannot be applied on multi-line comments.
Suggestions cannot be applied while the pull request is queued to merge.
Suggestion cannot be applied right now. Please check back later.
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.