add a momentum task - Githubissues

resibots / inria_wbc

Generic whole-body controller based on quadratic programming

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Closed jbmouret closed 3 years ago

jbmouret commented 3 years ago

Following Eloise's suggestion, a task that keeps the angular momentum at 0.

It seems to improve the overall stability in simulation.

jbmouret commented 3 years ago

This should be harmless if we do not activate it. Should we merge?