Add handling of the energy task added in TSID (described here PR155) and of the contactForceTask.
This PR is linked to the one in sot-torque-control PR85:
Adding the AM task in the inverse-dynamic-balance-controller.
Create a simple formulation with a single posture task (and contact tasks).
Refactor TrajectorySample::pos, vel, acc as in TSID.
Add proper gains for contactForceTask.
Add handling of the energy task added in TSID (described here PR155) and of the contactForceTask. This PR is linked to the one in sot-torque-control PR85:
Adding the AM task in the inverse-dynamic-balance-controller. Create a simple formulation with a single posture task (and contact tasks). Refactor TrajectorySample::pos, vel, acc as in TSID. Add proper gains for contactForceTask.