Attempt to minimize the angular momentum on the z component#168

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GiulioRomualdi wants to merge 4 commits intomasterfrom angular_momentum

+116-36

Commits on Mar 15, 2024

Attempt to minimize the angular momentum on the z component

GiulioRomualdi
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ergocub
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Use teh torso orientation velocity to generate a desired angular momentum

GiulioRomualdi
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ergocub
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Use the average of the feet velocity as desired centroidal locked velocity

GiulioRomualdi
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ergocub
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[ergoCubSN001] Add configuration to add the angular momentum control
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