Tidying up `controllers` library - Githubissues

dazzmo / CassieControllers

A controller library for robotic systems

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Tidying up `controllers` library #17

Closed nic-barbara closed 11 months ago

nic-barbara commented 11 months ago

We went through and fixed bugs/tidied up all the code in the controllers library. Major changes include:

Sign convention on task-space PD error
Fixed bug with not inverting mass matrix in projected constraints
Added comments to explain some funky solver setup lines
Moved control weight initialisation to the model so it can be set nicely with all other weights

Cassie controller is still not operational and has the same behaviour as before this PR. Work-in-progress.