Allegro-ball contact plan stabilization - Githubissues

pangtao22 / planning_through_contact

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Allegro-ball contact plan stabilization #58

Closed pangtao22 closed 2 years ago

pangtao22 commented 2 years ago

State estimator of ball using mocap.
Simple QP controller implementation.
Controller verification in Drake.
Diagrams to run controller on hardware, although the performance of closed-loop tracking is pretty bad.
LCM drivers for interfacing with Allegro's ROS driver.

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