search

DAIRLab / dairlib

MIT License
66 stars 26 forks source link

Virtual Remote #221

Closed Brian-Acosta closed 3 years ago

Brian-Acosta commented 3 years ago

Adding virtual remote capability to run_osc_walking_controller for simulation velocity control. cc @yangwill

This change is Reviewable

Brian-Acosta commented 3 years ago

Reformatted all the changed files for proper code style

Brian-Acosta commented 3 years ago

After reviewing, it looks like a lot of these changes are still pending on a successful walking controller. Is it possible to only extract out the virtual controller portion of this? This would require the python script publish lcmt_cassie_out messages rather than just the lcmt_radio_out which is wasteful but is easier in integrate with the current implementation.

I hadn't thought about that. I'll change the lcm tpye and then just include the virtual remote python script and the corresponding changes to BUILD.bazel for now