Angle tracking and cleanup

dazzmo / CassieControllers

A controller library for robotic systems

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Angle tracking and cleanup #24

Open nic-barbara opened 9 months ago

nic-barbara commented 9 months ago

We need to add a task for tracking angles, and we need to clean up the existing code/docs to make it easier to use. Remaining things to fix up are:

[x] Add angle-tracking tasks (generic).
[x] Add task to Cassie sim to keep pelvis at desired orientation (could be controlled with joystick later).
[x] See if we still need the joint damping task.
[x] Tune controller gains (methodically).
[ ] Update README.md for Cassie examples.

dazzmo commented 7 months ago

New damotion library's control module now addresses these tasks, with demonstrations shown in the cassie examples in 5b90119a7c6fc99693b3371f4994a8659659f221.