- Jul 23, 2020
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Guilhem Saurel authored
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Guilhem Saurel authored
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- Jun 01, 2020
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Guilhem Saurel authored
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- Mar 19, 2020
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Guilhem Saurel authored
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Guilhem Saurel authored
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Guilhem Saurel authored
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Guilhem Saurel authored
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- Mar 09, 2020
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Guilhem Saurel authored
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Guilhem Saurel authored
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- Mar 03, 2020
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Guilhem Saurel authored
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- Mar 02, 2020
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Guilhem Saurel authored
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Olivier Stasse authored
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Guilhem Saurel authored
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- Feb 28, 2020
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NoelieRamuzat authored
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- Feb 27, 2020
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NoelieRamuzat authored
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NoelieRamuzat authored
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NoelieRamuzat authored
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NoelieRamuzat authored
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NoelieRamuzat authored
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NoelieRamuzat authored
Return the torque_ctrl command except on the joint controlled by the ddp (here right elbow -> n°25)
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NoelieRamuzat authored
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NoelieRamuzat authored
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NoelieRamuzat authored
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NoelieRamuzat authored
Add the limits in torque, position and velocity to cost function.
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NoelieRamuzat authored
Entity using the ddp_solver associated with the pyrene actuator (see ddp-actuator-solver/example/pyrene_actuator)
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NoelieRamuzat authored
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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.
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NoelieRamuzat authored
filter_differentiator have been moved to sot-core
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NoelieRamuzat authored
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NoelieRamuzat authored
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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.
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- Feb 26, 2020
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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
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- Feb 25, 2020
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NoelieRamuzat authored
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NoelieRamuzat authored
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NoelieRamuzat authored
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- Feb 24, 2020
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NoelieRamuzat authored
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NoelieRamuzat authored
They are used in the u signal for a PD+ control (cannot reuse them in the loop)
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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.
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