Public
Authored by Michele Focchi

use of wbDynamic

Additional features:

  1. takes into account the inertial of the legs
  2. allows to set an attractor for the tracking for the swing foot trajectory
  3. allows to enforce torque limits
  4. allows to enforce joint kinematic limits

Note that the torque limits are automatically computed in the beginning of each loop by the supervisor.

Edited
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