This adds a momentum stabilization
This is comparing the real imu angular velocity with the model imu_link angular velocity
It is creating an angular momentum to correct the difference
One thing to consider is that a momentum task is needed
The default reference to this task is zero
When the talos initial position has a straight torso, this task will have the effect of keeping it straight
Otherwise we need to change the reference to the momentum task inside the behavior
The momentum task is automatically removed for the single support case because we would need to compute the correct angular momentum reference to give inside the behavior
This adds a momentum stabilization This is comparing the real imu angular velocity with the model imu_link angular velocity It is creating an angular momentum to correct the difference
One thing to consider is that a momentum task is needed The default reference to this task is zero When the talos initial position has a straight torso, this task will have the effect of keeping it straight Otherwise we need to change the reference to the momentum task inside the behavior
The momentum task is automatically removed for the single support case because we would need to compute the correct angular momentum reference to give inside the behavior