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ami-iit / comodo

Suite of parametrized controller with simulation environments for co-design of Humanoid Robots
BSD 3-Clause "New" or "Revised" License
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Adding inverse kinematic controller #9

Closed CarlottaSartore closed 7 months ago

CarlottaSartore commented 10 months ago

This PR include the inverse kinematic controller and the related example to make the robot walk, in position control, using bipedal locomotion inverse kinematic, centroidal MPC and mujoco simulator. It depends on bipedal locomotion framework version 0.16

CarlottaSartore commented 10 months ago

This PR is still a draft, because we need to understand how to automatically add tag to the contacts in mujoco for the feet rear and front.

CarlottaSartore commented 8 months ago

This PR is still a draft, because we need to understand how to automatically add tag to the contacts in mujoco for the feet rear and front.

This has been solved in 25ada23898c19d449d2d74c7bc5674b2c289dda2 , but there are still some issues in the computation of the wrenches that I want to furtherly investigate before resolving the draft status

CarlottaSartore commented 7 months ago

I have decided to add in a future a PR solely for the examples. thus now this PR is ready for review.

The problem with the wrenches has been solved. In addition we have added:

S-Dafarra commented 7 months ago

Nit. kinematic is and adjective, while kinematics is a noun. In this case I think it should be InverseKinematics

CarlottaSartore commented 7 months ago

@S-Dafarra I think I resolve all your comments, let me know if there is something I have missed

CarlottaSartore commented 7 months ago

Thanks all ! Merging !