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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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How do we achieve torque control with the stack-of-tasks on Talos? #6

Open pi-q opened 5 years ago

pi-q commented 5 years ago

Hi! We would be interested in testing the stack-of-tasks for torque control with our Talos robot, but might need a little bit of guidance on how to make things work.

So far, we have installed stack-of-tasks software from robotpkg (sot-core, talos-dev, simple-humanoid-description, parametric-curves, tsid, soth), with the addition of sot-torque-control and talos-torque-control.

For some reason, I can't successfully get the robot to follow trajectories with torque control in Gazebo. Is there maybe something we are missing that we should know of?

I hope you can help! I am aware there is a lot of details missing in my question, just let me know what information you might need and I will provide it from there.

nim65s commented 5 years ago

Closed for https://github.com/stack-of-tasks/talos_metapkg_ros_control_sot/issues/4

olivier-stasse commented 4 years ago

I think that torque-control for TALOS is maybe better understood here tahn in talos-metapkg-ros-control. We are almost there. I reopen the issue here and close the other one.