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stack-of-tasks / sot-torque-control

Collection of dynamic-graph entities aimed at implementing torque control on different robots.
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[BalanceController] Take reference wrenches as input #10

Closed andreadelprete closed 6 years ago

andreadelprete commented 7 years ago

We should add input signals in the balance-controller entity to take reference contact wrenches. Currently the force redundancy is solved by using a low-priority task that tries to minimize the tangential forces and the moments. Rather than doing that, it would be more flexible to take reference wrenches as input, especially if in the future the reference of the balance controller will come from a reduced-model model predictive controller.

andreadelprete commented 6 years ago

Done in 084b44c4c39116b7aabd459ebad81645eb1dd5e9