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Task energy#13

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NoelieRamuzat wants to merge 49 commits intostack-of-tasks:develstack-of-tasks/talos-torque-control:develfrom NoelieRamuzat:topic/task_energyNoelieRamuzat/talos-torque-control:topic/task_energyCopy head branch name to clipboard

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Commits

Commits on Apr 6, 2020

• [Angular Momentum] Add AM task in inverse_dynamic_balance_controller entity

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Commits on May 5, 2020

• [Tests] Tests add base_estimator

  

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Commits on May 12, 2020

• [Tests] working torque control with base_estimator

  

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• Merge remote-tracking branch 'gitlab/devel' into topic/tests

  

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Commits on May 25, 2020

• [Torque control] Add scripts for walk and bellStep in torque control

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• [Doc] Add documentation for walk and bellStep simulations

  

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• [Doc] Change link of github repository in installation procedure

  

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Commits on Jun 16, 2020

• [GAINS] Working gains for torque walk ssp1.5s dsp0.3s

  

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• [Tests] Add tests for walk velocity control and online PG

  

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• [Torque control] Working scripts for torque control online with PG

  

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Commits on Jul 31, 2020

• Merge remote-tracking branch 'github/devel' into topic/tsid_am_task

  

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• [Torque Control] Add contact_phases trajectory files

  

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• [Tests] clean files

  

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• [Tests] Fix tests

  

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Commits on Aug 3, 2020

• Merge pull request #1 from NoelieRamuzat/topic/tsid_am_task

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Commits on Aug 25, 2020

• Arguments for proper installation, timers to avoid blocking instructions, better paths and arguments reading

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• Revert "Arguments for proper installation, timers to avoid blocking instructions, better paths and arguments reading"

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• added integrated tests while keeping previous versions

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Commits on Aug 26, 2020

• Merge pull request #1 from Hugo-L3174/topic/tsid_am_task

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Commits on Aug 27, 2020

• [PG online] Working gains for torque control

  

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• [PG online] Working gains for position control

  

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Commits on Nov 4, 2020

• [Data] Add stairs and plateforms walking trajectories

  

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• [PG online] Cleaning scripts in velocity - Add acceleration ref to taskComAdm

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• [PG online] Cleaning scripts in torque - Add walk of 60cm with PG

  

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• [PD+] Change the gains of the PD+ accordingly to sot-torque-control

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• [Multicontact Trajs] Add working scripts in velocity for stairs/debris

  

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• [Multicontact Trajs] Add working scripts in torque for stairs/debris

  

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• [Gains] Working gains for the whole

  

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• [BellStep] Repair the bellStep simulation

  

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Commits on Nov 5, 2020

• Merge remote-tracking branch 'github/release/1.1.0' into topic/icra_2021

  

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Commits on Mar 11, 2021

• [Python] Change syntax in python + adapt to ctrl_manager of sot-talos-balance

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  Noëlie Ramuzat

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• [Trajs] Add Isabelle trajectories + Rename platforms + Remove useless ones

  

  Noëlie Ramuzat

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Commits on Mar 22, 2021

• [Pal_simulator] Working simus

  

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Commits on Mar 25, 2021

• [Posture_Task] Add script to launch the posture entity of sot-torque-ctrl

  

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• [Posture_Task] Add topic for tau_measured

  

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Commits on Mar 26, 2021

• [Posture_Task] Change gains

  

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Commits on Mar 29, 2021

• [Posture_Task] Add contact6D and change gains

  

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Commits on Mar 30, 2021

• Working tests with controller_dt=0.001 and default_conf

  

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Commits on Jul 27, 2021

• [Energy] Add energy signals, Posture task with energy, Gains for PAL simu

  

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Commits on Jul 28, 2021

• [Pal simu] Only TSID control on the left arm, keep position otherwise

  

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Commits on Aug 4, 2021

• [Pal simu] Add waist in posture task - Add com sinu in sinusoid elbow file

  

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• [Pal simu] Debug waist

  

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• [Debug] norm error waist

  

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Commits on Aug 12, 2021

• [Posture task] Add com task and remove waist one

  

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Commits on Sep 14, 2021

• [Energy] Add tests and simulations for task contact force with passivity

  

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• [Doc] Add documentation to run the force task simulation

  

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Commits on Jan 11, 2022

• [Energy] Fix gains according to reviews - Equal gains per tasks

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Commits on Jan 20, 2022

• Clean files & add proper gains for force task

  

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• Merge remote-tracking branch 'github/devel' into topic/task_energy

  

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