How to achieve torque control with the stack-of-tasks?

Created by: pi-q

Hi! We would be interested in testing the stack-of-tasks for torque control with our Talos robot, but might need a little bit of guidance on how to make things work.

So far, we have installed stack-of-tasks software from robotpkg (sot-core, talos-dev, simple-humanoid-description, parametric-curves, tsid, soth), with the addition of sot-torque-control and talos-torque-control.

For some reason, I can't successfully get the robot to follow trajectories with torque control in Gazebo. Is there maybe something we are missing that we should know of?

I hope you can help! I am aware there is a lot of details missing in my question, just let me know what information you might need and I will provide it from there. Just to let you know, there is another very similar issue that I opened here, but I was not sure I would get a reply from that side.

Thanks!