resibots / inria_wbc

Generic whole-body controller based on quadratic programming
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get F/T from tsid solution and torques from RobotModel #106

Closed dalinel closed 2 years ago

dalinel commented 2 years ago

Now we can use force_torque_from_solution to get the contact F/T from tsid solution

We can use compute_rnea_double_support to get the joint torques of the RobotModel

Both functions add the possibility to deal with the foot mass that is not included in the F/T sensor data located at the ankle level

dalinel commented 2 years ago

It should be ok to merge now