Impact invariant examples

DAIRLab / dairlib

MIT License

66 stars 26 forks source link

Impact invariant examples #232

Closed yangwill closed 2 years ago

yangwill commented 3 years ago

Adding an examples folder to showcase the impact invariant controller. Includes a .pmd file that contains all the relevant scripts as well as a README in examples/impact_invariant_control that gives brief instructions on how to build and run the examples.

May still make minor changes to the PR such as better documentation and code readability.

This change is

yangwill commented 3 years ago

List of common libraries that require a close read through:

operational_space_control.h/cc
osc_tracking_data.h/cc
time_based_fsm.h/cc
dircon_saved_trajectory.h/cc
jumping_event_based_fsm.h/cc
run_osc_jumping_controller.cc

The rest of the files are the simulator/urdf/gains. Though if you have more time, I would prioritize the trajectory generator leaf systems in examples/Cassie/osc_jump/