-
NoelieRamuzat authored
Add outputs (q_des, v_des, u) and enum on output control modes to use the entity in torque or velocity. q_des and v_des are the integration of the desired acceleration computed by TSID u is the result of the desired torque computed + PD on posture des. Works with talos-torque-control package for sinusoid traj on the CoM in velocity control.
295f8709