Add Angular Momentum task & use base-estimator entity to achieve walk in torque control

stack-of-tasks / talos-torque-control

Specific torque control part of sot-torque-control for Talos

BSD 2-Clause "Simplified" License

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Add Angular Momentum task & use base-estimator entity to achieve walk in torque control #10

Open NoelieRamuzat opened 4 years ago

NoelieRamuzat commented 4 years ago

This PR is linked to the one in sot-torque-control (see #75). Contains also a simulation test which achieve "bell step" (foot following a sinusoidal trajectory in the air) in torque control. Add documentations.

NoelieRamuzat commented 4 years ago

I fix the tests and clean the create_entities_utils_talos.py