Closed dalinel closed 2 years ago
Now we can use force_torque_from_solution to get the contact F/T from tsid solution
force_torque_from_solution
We can use compute_rnea_double_support to get the joint torques of the RobotModel
compute_rnea_double_support
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
It should be ok to merge now
Now we can use
force_torque_from_solution
to get the contact F/T from tsid solutionWe can use
compute_rnea_double_support
to get the joint torques of theRobotModel
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