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DAIRLab / dairlib

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Alip default controller #280

Closed Brian-Acosta closed 2 years ago

Brian-Acosta commented 2 years ago

Adds files to use the ALIP model (https://doi.org/10.1109/ICRA48506.2021.9560821) in the default walking controller. Also updates the Cassie hardware PMD and logging infrastructure with quality of life improvements.

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Brian-Acosta commented 2 years ago

Yep that is necessary for the new tracking data which don't have AddStateAndPointToTrack a similar method.