#Examples for Impact Invariant Control
Code documentation including this README is still a work in progress. Please feel free to send any questions about the paper/accompanying code to yangwill@seas.upenn.edu.
This folder contains the primary source code for the examples used in:
This includes the joint space walking controller for Rabbit and the operational space jumping controller for Cassie as well as other scripts and dependencies.
We use bazel to build our code. To build all of the example scripts, use the command
bazel build examples/impact_invariant_control/....
We use the process manager, bot-procman (https://github.com/libbot2/libbot2/tree/master/bot2-procman), to organize the scripts. To use procman, use the command
bot-procman-sheriff -l examples/impact_invariant_control/impact_invariant_examples.pmd. Another option is to simply run the compiled binaries located in bazel-bin.
The source files for the Cassie examples are located in examples/Cassie/.
The controller gains and parameters are located in the .yaml files:
joint_space_walking_gains.yamlexamples/Cassie/osc_jump/osc_jumping_gains.yaml