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    • Noëlie RAMUZAT's avatar
      Add simpleInverseDyn entity making TSID work with SoT (#71) · eab7fb4e
      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
      eab7fb4e
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