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resibots / inria_wbc

Generic whole-body controller based on quadratic programming
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Closed loop fixed #63

Closed ibergonzani closed 3 years ago

ibergonzani commented 3 years ago

Add closed loop check and solve in base controller Add torque/closed loop option in Franka sim

jbmouret commented 3 years ago

This looks OK to me. Ready to merge on my side (I merged it with the Tiago branch already).