Add simpleInverseDyn entity making TSID work with SoT

stack-of-tasks / sot-torque-control

Collection of dynamic-graph entities aimed at implementing torque control on different robots.

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Add simpleInverseDyn entity making TSID work with SoT #71

Closed NoelieRamuzat closed 4 years ago

NoelieRamuzat commented 4 years ago

This entity allows to replicate the ex1 and 2 of the TSID jupyter notebooks in position and torque control in Gazebo with Talos (see the jupyter here).

It should be use with the talos-torque-control package, after the merging request 4.

The entity implements 5 tasks in TSID:

CoM
Contacts 6D (one for each foot)
Base orientation (named waist)
Posture

Add also a doxygen documentation for launching the examples in simulation.

nim65s commented 4 years ago

Travis CI is failing because the enum module is part of the python standard library only since python 3. for python 2, one has to install the enum34 additionnal package.

@NoelieRamuzat : please ignore this fail. Sorry for loosing your time with that.

I don't plan fix this, because I don't plan to support Travis CI, as I'm already supporting another CI system, so I suggest to drop these checks as soon as possible. This will be possible when Gitlab CI will run on Github PR: soon.