Commit 9e4b3e7b authored by NoelieRamuzat's avatar NoelieRamuzat
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[notebooks] Fixing Waist Task

Adding and fixing the waist task for Pyrène.
The control is now working on both exercises.
Be careful to use joints and not frames when defining the Tasks and Trajectories. 
ie: use 'root_joint' and not 'base_link' for the waist.

Change the weights and gains: use the one of Pierre Fenrbach.
parent bd418635
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