Compare challenging movements with or without stabilizer
I think it is important to have good terms of comparison to evaluate the performance of the stabilizer.
I've written a test which mirrors the current demo, but without stabilizer. I'll push it soon.
I can already say that I am still able to raise the foot in simulation and to execute some movements. However, the result is much less nice. The robot oscillates a lot when raising the foot, and when moving it from one position to another, which does not happen with the stabilizer.
It will be interesting to test this on the robot