Implicit Compliance

Optional Lab 1 for CS 123, Spring 2025

This optiional lab is modified from the EECS 381 final project from Ankush, Guise, and JC. The goal is to verify if Pupper's legs can infer tactile information without any tactile sensors. No guarentee to work yet!

Clone repo to Pupper

cd ~ git clone https://github.com/JummerCloth/implicit_compliance.git

Pipeline on Pupper

Enter directory:

cd ~/implicit_compliance

Each of the following jobs would require a separate terminal in ~/implicit_compliance to run in chronological order:

Start launch file:

ros2 launch ic.launch.py

Run Contact Detector

The current implementation requires a DenseTact sensor (which is very hard to make for regular folks and even more painful to calibrate). You will need to modify this file to make the Pupper's leg compliant without : python3 dt_contact_pub_lw.py

Run Compliant Walking Motion

python3 leg_motion_on_contact

Log Data (You can modify this to collect more data yourself): python3 data_collector.py --index experiment<index>