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dazzmo / CassieControllers

A controller library for robotic systems
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Errors in Cassie fixed sim #25

Closed nic-barbara closed 4 months ago

nic-barbara commented 4 months ago

The current version of cassie_fixed_sim had a few issue preventing it from working. Joint damping was being added in positive feedback instead of negative feedback, and it didn't seem as if the foot orientation task was quite working.

This PR is a work in progress, looking for feedback @dazzmo.

dazzmo commented 4 months ago

Yes, this looks good. I think there were some issues in the orientation error tracking because the orientation of the foot was non-trivial to compute (not aligned with the world frame as in the pelvis case) when that commit was made and it was left as future work that has persisted to this commit. Happy to only have position-based tracking now but will mark this as future work.