Commit 6e3a9340 authored by Pierre Fernbach's avatar Pierre Fernbach Committed by Guilhem Saurel
Browse files

tsid_biped: com_task is added at level 0

parent 91d114c1
......@@ -69,7 +69,7 @@ class TsidBiped:
comTask = tsid.TaskComEquality("task-com", robot)
comTask.setKp(conf.kp_com * np.ones(3))
comTask.setKd(2.0 * np.sqrt(conf.kp_com) * np.ones(3))
formulation.addMotionTask(comTask, conf.w_com, 1, 0.0)
formulation.addMotionTask(comTask, conf.w_com, 0, 0.0)
postureTask = tsid.TaskJointPosture("task-posture", robot)
postureTask.setKp(conf.kp_posture * conf.gain_vector)
......
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