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Add pyrene actuator and cost function to use DDP on it.

Guilhem Saurel requested to merge github/fork/NoelieRamuzat/master into master

Created by: NoelieRamuzat

Using the entity ddp-pyrene-actuator in sot-torque control and the test script of talos-torque-control. This will launch the test making the robot executing a sinusoid with its right arm (on the elbow joint) using the DDP solver. This one computes a trajectory avoiding the limits in position, velocity and torque of the robot.

See PRs 72 and 4.

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