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Noëlie RAMUZAT authored
* [Filter Utils] Change include of FilterDifferentiator now in sot-core filter_differentiator have been moved to sot-core * [Filter Utils] Change include of FilterDifferentiator now in sot-core filter_differentiator have been moved to sot-core * Create simple Inverse Dyn entity with posture and com TSID tasks * [SimpleInvDyn] Add waist and contact6D tasks to CoM and Posture ones 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. * [SimpleInvDyn] Remove update q,v from robot in torque control They are used in the u signal for a PD+ control (cannot reuse them in the loop) * [SimpleInvDyn] Cleaning scripts and add comments * [Documentation] Add Doxygen documentation * [Documentation] Correction of the talos-torque-control repository url