Adding files for walking autonomous on SN000

[S-Dafarra]

cc @carloscp3009

[S-Dafarra]

@GiulioRomualdi friendly ping

[S-Dafarra]

I borrowed two commits from #194:

• f9c8e93
• bc0b6cf

[GiulioRomualdi]

I borrowed two commits from #194:

• f9c8e93
• bc0b6cf

I would remove these two commits and keep them in one #194

[S-Dafarra]

I borrowed two commits from #194:

• f9c8e93
• bc0b6cf

I would remove these two commits and keep them in one #194

Those are extremely useful for autonomy too. What is the plan for #194?

[GiulioRomualdi]

I borrowed two commits from #194:

• f9c8e93
• bc0b6cf

I would remove these two commits and keep them in one #194

Those are extremely useful for autonomy too. What is the plan for #194?

As you suggested in #194 (comment), the logic is somewhat hidden and could be implemented more clearly. Since PR #194 covers multiple features (angular momentum and temperature), splitting it into two parts might be better.

Note that adding angular momentum minimization during walking we decide to disable the control of the arms by the autonomy module, which means no box can be carried. One possible solution could be to generate an angular momentum reference from the autonomy module. We can explore how to approach this.

[S-Dafarra]

I see. The commit(s) I took instead are quite plain and simple. My proposal then would be to merge this, and then rebase #194 on top of master afterward (something I can take care of). Does it make sense?