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Tsid balancing/tuning#904

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LoreMoretti wants to merge 10 commits intoami-iit:masterami-iit/bipedal-locomotion-framework:masterfrom LoreMoretti:tsidBalancing/tuningLoreMoretti/bipedal-locomotion-framework:tsidBalancing/tuningCopy head branch name to clipboard

+624-46

Commits

Commits on Oct 16, 2024

• balancing only with legs

  LoreMoretti

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  62bca49

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• prepare config files for ergocubSN001

  LoreMoretti

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  9598122

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• update logger of ergoCubSN001

  LoreMoretti

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  4b0511a

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Commits on Oct 17, 2024

• update tsid gains and joint regularization task setpoint

  

  ergocub

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Commits on Oct 18, 2024

• chage tsid gains

  

  ergocub

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Commits on Oct 21, 2024

• Tune gains for balancing torque control

  

  ergocub

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Commits on Oct 22, 2024

• add initial position of fixed joints

  LoreMoretti

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  e5d17e6

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• log desired contact wrenches computed by TSID

  LoreMoretti

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• clip tsid computed torques

  LoreMoretti

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Commits on Oct 23, 2024

• Add torso torque controlled. Remove torso task.

  

  ergocub

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