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.
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.