TODO

[mfocchi]

• incorporate obects in world file as a separate robot that you can spawn
• clean up L8 admittance
• make uniform fixed base and floating base urdf
• make basecontroller inherit from base controller fixed
• use setFloaqting base joint in Pinocchio
• use upload.launch to load robot_description and robot_semantic_description in ros_impedance_controller

[froscia]

• from quadruped_controller: reset function (freeze base + move joints to home config)
• from quadruped_controller: start up from stand up and stand down
• from quadruped_controller: save gazebo video

[froscia]

• plots: add start index and index: e.g., plotVar(time, var, start, end)

• move specific world files inside robot descriptions

• integrate ROS2 and CoppeliaSim https://www.coppeliarobotics.com/helpFiles/en/ros1Tutorial.htm

[mfocchi]

startFramework
ros_impedance_controllerfloating.launch-> ros_impedance_controller.launch

Wcontacts ->contactsW

_receivePos receivcePose

create class with fifthOrderPolynomialTrajectory and bezier

fix bug in frameJacobian that does not update with True flag need to call forawardkin and getJointJacobians