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e217f893 · e217f893 · e217f893 · e217f893 · e217f893 · e217f893
--- a/plot/plot_wrench_distrib.xml
+++ b/plot/plot_wrench_distrib.xml
--- a/plot/plot_xy.xml
+++ b/plot/plot_xy.xml
--- a/plot/plot_xy_gz.xml
+++ b/plot/plot_xy_gz.xml
--- a/plot/plot_xy_gznostf.xml
+++ b/plot/plot_xy_gznostf.xml
--- a/plot/plot_xy_madgwick.xml
+++ b/plot/plot_xy_madgwick.xml
--- a/plot/plot_xy_madgwick_w.xml
+++ b/plot/plot_xy_madgwick_w.xml
--- a/plot/plot_xyz_gz.xml
+++ b/plot/plot_xyz_gz.xml
--- a/plot/plot_zmp.xml
+++ b/plot/plot_zmp.xml
--- a/plot/plot_zmp_com.xml
+++ b/plot/plot_zmp_com.xml
--- a/pyproject.toml
+++ b/pyproject.toml
+[tool.black]
+exclude = "cmake"
--- a/python/sot_talos_balance/create_entities_utils.py
+++ b/python/sot_talos_balance/create_entities_utils.py
--- a/python/sot_talos_balance/extract_torque_motorenc_joint_enc_batteries.py
+++ b/python/sot_talos_balance/extract_torque_motorenc_joint_enc_batteries.py
--- a/python/sot_talos_balance/motor_parameters.py
+++ b/python/sot_talos_balance/motor_parameters.py
--- a/python/sot_talos_balance/talos/admittance_ctrl_conf.py
+++ b/python/sot_talos_balance/talos/admittance_ctrl_conf.py
-from math import sqrt
-import numpy as np
-
-kp_force = 6*(0.0,)
-ki_force = 6*(0.0,)
-kp_vel   = 32*(0.0,)
-ki_vel   = 32*(0.0,)
-force_integral_saturation = (0.0, 0.0, 160.0, 20.0, 20.0, 0.0)
-force_integral_deadzone   = (5.0, 5.0, 5.0, 0.5, 0.5, 0.5)
--- a/python/sot_talos_balance/talos/balance_ctrl_conf.py
+++ b/python/sot_talos_balance/talos/balance_ctrl_conf.py
--- a/python/sot_talos_balance/talos/balance_ctrl_sim_conf.py
+++ b/python/sot_talos_balance/talos/balance_ctrl_sim_conf.py
--- a/python/sot_talos_balance/talos/base_estimator_conf.py
+++ b/python/sot_talos_balance/talos/base_estimator_conf.py
--- a/python/sot_talos_balance/talos/base_estimator_sim_conf.py
+++ b/python/sot_talos_balance/talos/base_estimator_sim_conf.py
--- a/python/sot_talos_balance/talos/control_manager_sim_conf.py
+++ b/python/sot_talos_balance/talos/control_manager_sim_conf.py
--- a/python/sot_talos_balance/talos/current_controller_conf.py
+++ b/python/sot_talos_balance/talos/current_controller_conf.py
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