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Topic/task contact force energy#85

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NoelieRamuzat wants to merge 53 commits intostack-of-tasks:develfrom

NoelieRamuzat:topic/task_contact_force_energy

Commits on Apr 6, 2020

[Angular Momentum] Add AM task in inverse-dynamic-balance-controller entity
NoelieRamuzat
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[Inv_Dyn] Update references of contacts when they are added
NoelieRamuzat
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Commits on May 12, 2020

[Base-estim] Plug base-estimator to inv_dyn entity to have updates on q/v
NoelieRamuzat
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Commits on May 25, 2020

[Doc] Add documentation for walk and bellStep simulation
NoelieRamuzat
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[Inv_Dyn] Clean useless sendMsg
NoelieRamuzat
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[DDP] Add ddp files to plugin list
NoelieRamuzat
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Commits on Jun 16, 2020

[Inv_Dyn] Add control mode (vel/torque) and change signal phase (int)
NoelieRamuzat
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[Inv_Dyn] Wrong init size for m_q_sot (39 -> 38)
NoelieRamuzat
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Commits on Jul 31, 2020

[Angular Momentum] Add AM task in inverse-dynamic-balance-controller entity
NoelieRamuzat
committed
[Inv_Dyn] Update references of contacts when they are added
NoelieRamuzat
committed
[Base-estim] Plug base-estimator to inv_dyn entity to have updates on q/v
NoelieRamuzat
committed
[Doc] Add documentation for walk and bellStep simulation
NoelieRamuzat
committed
[Inv_Dyn] Clean useless sendMsg
NoelieRamuzat
committed
[DDP] Add ddp files to plugin list
NoelieRamuzat
committed
[Inv_Dyn] Add control mode (vel/torque) and change signal phase (int)
NoelieRamuzat
committed
[Inv_Dyn] Wrong init size for m_q_sot (39 -> 38)
NoelieRamuzat
committed
Merge remote-tracking branch 'origin/topic/tsid_am_task' into topic/tsid_am_task
NoelieRamuzat
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[Inv_Dyn] Add com_admittance references for tasks on CoM in velocity mode
NoelieRamuzat
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Commits on Aug 10, 2020

[param-server] Fix includes for boost in robot-utils of sot-core
NoelieRamuzat
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Commits on Nov 3, 2020

[Inv_Dyn] Fix wrong sendMsg type (ERROR to INFO)
NoelieRamuzat
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Commits on Nov 4, 2020

[Inv_Dyn] Add DCM & AM signal outputs + acceleration ref to taskComAdm
NoelieRamuzat
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[Inv_Dyn] Change formulation of the PD+
NoelieRamuzat
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[Inv_Dyn] Add function actFrame to transform the CoM and Feet frames
NoelieRamuzat
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Commits on Nov 5, 2020

Merge remote-tracking branch 'gh_stack/release/1.6.0' into topic/icra_2021
NoelieRamuzat
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Missing include of robot-utils.hh
NoelieRamuzat
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Commits on Mar 8, 2021

[Inv_Dyn] Add torque bounds constraint + add feet quaternion signals
NoelieRamuzat
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Commits on Mar 10, 2021

[Inv_Dyn] Remove transformFrame on CoM and feet for Isabelle trajectory
NoelieRamuzat
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Commits on Mar 22, 2021

Merge remote-tracking branch 'gh_stack/devel' into topic/isabelle
Noëlie Ramuzat
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Commits on Mar 24, 2021

[Test] remove useless headers
Noëlie Ramuzat
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Commits on Mar 25, 2021

[Posture_task] Add a simple entity with only a posture task
Noëlie Ramuzat
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Commits on Mar 26, 2021

[Posture_Task] Add constraint torque limits
Noëlie Ramuzat
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Commits on Mar 29, 2021

Fix Gains in contact6D because of changes in TSID
Noëlie Ramuzat
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[Posture_Task] Add contact6D
Noëlie Ramuzat
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Commits on Mar 30, 2021

Correction on contact6D gains
Noëlie Ramuzat
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[SimpleInvDyn] Add actuation bounds constraint
Noëlie Ramuzat
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[Energy] Cherrypick commit branch topic/energy
Noëlie Ramuzat
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Commits on Jul 16, 2021

[Energy] Add smoothness coefficients
Noëlie Ramuzat
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Commits on Jul 21, 2021

[ForceTask] First draft
Noëlie Ramuzat
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Commits on Jul 27, 2021

[Energy] Add energy task in posture simu and add energy signals
Noëlie Ramuzat
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Commits on Jul 28, 2021

[ForceTask] Add command to add/remove force task on left hand
Noëlie Ramuzat
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Commits on Aug 4, 2021

[ForceTask] Add signal LHForce_world and fix frame name and gains
Noëlie Ramuzat
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[Posture Task] Add waist task in pb
Noëlie Ramuzat
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[Debug] Add signal waist orientation
Noëlie Ramuzat
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[Debug] Norm error of waist task
Noëlie Ramuzat
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Commits on Aug 6, 2021

[Posture Task] Add waist task in pb
Noëlie Ramuzat
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Commits on Aug 10, 2021

[ForceTask] Set force in tool frame - use contact6D
Noëlie Ramuzat
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Merge remote-tracking branch 'origin/topic/task_energy' into topic/task_contact_force
Noëlie Ramuzat
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Commits on Aug 11, 2021

Comment useless signal
Noëlie Ramuzat
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Commits on Aug 24, 2021

Merge remote-tracking branch 'gh_stack/devel' into topic/task_contact_force_energy
Noëlie Ramuzat
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Commits on Sep 14, 2021

[Energy] Clean files
Noëlie Ramuzat
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Commits on Jan 20, 2022

Refactor TrajectorySample::pos, vel, acc as in TSID - Clean energy & force tasks
Noëlie Ramuzat
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Merge remote-tracking branch 'gh_stack/devel' into topic/task_contact_force_energy
Noëlie Ramuzat
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Fix send message
Noëlie Ramuzat
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