first skeleton of tsid - #198

Draft

GiulioRomualdi wants to merge 26 commits into

gbionics:masterfrom

LoreMoretti:feature/controller/TSIDadmittance

Commits on Feb 24, 2025

first skeleton of tsid
LoreMoretti
committed
92e19bd

Commits on Feb 25, 2025

Add torque control interface and implementation for setting torque references
GiulioRomualdi
committed
8badb81
add Admittance controller and double integrator, and update Walking Module
LoreMoretti
committed
595c2e3
fix TSID config files and TSID task names
LoreMoretti
committed
c3f7904
set setpoints of TSID and properly initialize joint acceleration integrator
LoreMoretti
committed
c6114c1
fix leftover
LoreMoretti
committed
4d79d21
add tracking of weight percentage in TSID contact wrench task
LoreMoretti
committed
806026f
fix initialization of acceleration integrator and size of TSID variables
LoreMoretti
committed
2a3dcdf

Commits on Feb 26, 2025

fix the setting of root task setpoint
LoreMoretti
committed
2d25a6b
update setpoints of TSID tasks and add some logging
LoreMoretti
committed
93e8681
change setpoint of CoM tracking task in IK, and switch to torque control
LoreMoretti
committed
a909196
add spatial acceleration from planner as setpoint of feet tracking task in TSID
LoreMoretti
committed
f56e81d
add config files for ergocubSN001
LoreMoretti
committed
bfe10b3
remove CoM-ZMP controller and add ankle strategy
LoreMoretti
committed
1650523

Commits on Feb 27, 2025

add logging of feet angular velocity correction
LoreMoretti
committed
0387944
send torque to low-level
LoreMoretti
committed
17549ec
add logging of tsid kindyn signals
LoreMoretti
committed
0769cbb
enable tsid-admittance controller on ergocubSN001
ergocub
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02d49d4
downgrade walking with joypad for ergocubSN001 to 200 Hz
ergocub
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6bfcea1
some gain tuning for ergocubSN001
ergocub
committed
3fa6e9a

Commits on Apr 1, 2025

add gz-sim world file for ergoCubGazeboV1_1
LoreMoretti
committed
a8efccc
set reference velocities to 0 in the admittance controller
LoreMoretti
committed
fc051b6
this commit has to be removed when merging this branch
LoreMoretti
committed
4978759
set previous torque as regularizer for torque regularization task
LoreMoretti
committed
70e2aa3
add plot of base position returned by tsid controller
LoreMoretti
committed
bbc07bd
some controller gain tuning
LoreMoretti
committed
eff43b1