Topic/task contact force energy #85
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…entity Try to use it with talos-torque-control package and trajectories from multicontact_api. Works with walk on spot trajectories.
… q/v Remove useless sendMsg functions
In velocity control use the base estimator to estimate feet positions and CoM position. Use them in the feet and CoM tasks.
…entity Try to use it with talos-torque-control package and trajectories from multicontact_api. Works with walk on spot trajectories.
… q/v Remove useless sendMsg functions
In velocity control use the base estimator to estimate feet positions and CoM position. Use them in the feet and CoM tasks.
…mode Allow to control the DCM (com_adm_ref computed before TSID with a DCM controller and ZMP estimator).
Clean some useless comments and change zmp output signal size (2->3).
To have feed-forward terms in torque and acceleration. Not useful for now but perhaps on real robot. By default the feed-forward term in acceleration should be 0 and 1 in torque.
This transformation is necessary to have the tasks acting in the same frames as the trajectory reference ones. If they are expressed in the same frame (i.e. the world) the transformation is equal to the identity matrix. I need this to use the trajectories of the multicontact-locomotion-planning framework, for the walks on stairs and platforms which have a reference frame different from the world.
Put the feet motions task in the cost (no more constraints)
added 23 commits
March 26, 2021 15:53
Forgot to set previous modifications when removing/adding contacts
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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 talos-torque-control 13.
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.