Motions tack with PL on the arm controller;
It implements the dynamic and stack equilibrium limiting functions;
Optimization over multiple the degrees of freedom is not implemented;
Pre-compensation PL is not implemented;
Supervisor is not implemented;
Example with PL for 5 D
It implements the dynamic and static equilibrium limit functions;
Optimization over multiple the degrees of freedom is implemented;
Update motion stack passivity layer
included the teleoperation;
kinematics energy redistribution based on the SEP and zero storage assumption
add filter in pl
add filter in pl;bug
Bug in code generation with matrix sizes;
Interface update
Only one motion stack :)
Odometry update
Twist integrator for fetch and carry
Velocity control for the base
Updated the Encoding for energy communication
WARNING: all motions tack have to be regenerated for constancy !!!
Add EnergyButton Interface
D62 stack