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resibots / inria_wbc

Generic whole-body controller based on quadratic programming
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Task actuation equality #94

Closed paulinejmaurice closed 2 years ago

paulinejmaurice commented 2 years ago

Adds code to create a task-actuation-equality ("torque task") from YAML file, similarly to other tasks. Task parameters are the task weight (required), and mask (optional), and a scaling vector (optional) that is used to normalize the torque value when computing the error.

jbmouret commented 2 years ago

Thank you. The tasks are already in tsid?

paulinejmaurice commented 2 years ago

Yes the actuation-equality task is on TSID devel (and the actuation bounds as well).

dalinel commented 2 years ago

Ok for me The only thing is to checkout tsid devel branch for now

I have tested by adding this task on talos fast :

torque:
    type: torque
    weight: 1000.0
    kp: 30.0
    mask: 00000000000000000000000000011111

The torque reference is set to zero by default and it works well