Boots on the ground - Githubissues

dazzmo / CassieControllers

A controller library for robotic systems

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Boots on the ground #22

Closed nic-barbara closed 8 months ago

nic-barbara commented 10 months ago

Get Cassie to stand on the ground in its initial configuration without falling over. Specific tasks:

[x] Switch to full Cassie model cassie.urdf and update all Cassie codegen
[x] Add centre of mass codegen from here
[x] Switch to Cassie off the stand MuJoCo model (cassie.xml)
[x] Add tasks for front/back of heel to remain on ground
[x] Add task to keep centre of mass at desired location
[x] Test and debug

Once all of that's done and working we can have some fun with it:

[x] Switch to trajectory-tracking for CoM (eg: bobbing up and down)