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Cassie MBP Simulation Testing #105

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mposa opened this issue Oct 9, 2019 · 0 comments
Open

Cassie MBP Simulation Testing #105

mposa opened this issue Oct 9, 2019 · 0 comments
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@yangwill

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mposa commented Oct 9, 2019

Investigate integrator, contact model, and loop closure parameters for a MultibodyPlant simulation of Cassie. Compare performance and stability against RigidBodyPlant versions.

A preliminary simulation has been added here https://github.com/DAIRLab/dairlib/tree/mbp-sim-dev
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