Hi, I'm trying to get Cassie's dynamics Model. I followed the steps, but I get the following error message ¿What could I be doing wrong?
错误使用 eval_math (第 46 行)
The evaluation of Mathematica expression failed.

出错 SymExpression (第 91 行)
eval_math([obj.s '=' obj.f ';']);

出错 eval_math_fun (第 53 行)
ret = SymExpression(fstr,varargin{:});

出错 RobotLinks/configureDynamics (第 44 行)
De{i} = eval_math_fun('InertiaMatrixByLink',[links(i),{obj.numState}]);

出错 model_gen (第 36 行)
cassie.configureDynamics('DelayCoriolisSet',false);

Hi,

Would it be possible for you guys to provide the 'cassie_description' package (which contains the meshes) as well?

Best

Hi, I'm quite impressed with the performance of Cassie via the youtube video and I am also working on the researches of the gait pattern of biped robots. I try to read some relative papers and the codes but found nothing about inverse kinematic of Cassie. How do you deal with the IK problem? I tried to solve IK with DH parameters but failed. Do you control the angle of joints directly? If so, how do Cassie accomplish motions like walking or squat? Any information would be much appreciated. Thank you.

I occasionally get the following error when using make. Any idea what might be causing this. I also recompiled all the functions in MATALB before running make.

/mnt/d/research/git/Cassie_CFROST/Cassie_two_step/opt_two_step_ds/periodic/c_code/src/gen/J_dxDiscreteMapLeftImpactDoubleSupport.cc: In function ‘void frost::gen::J_dxDiscreteMapLeftImpactDoubleSupport(double*, const double*)’: /mnt/d/research/git/Cassie_CFROST/Cassie_two_step/opt_two_step_ds/periodic/c_code/src/gen/J_dxDiscreteMapLeftImpactDoubleSupport.cc:96209:1: internal compiler error: Segmentation fault } ^ mmap: Cannot allocate memory Please submit a full bug report, with preprocessed source if appropriate. See <file:///usr/share/doc/gcc-5/README.Bugs> for instructions. /mnt/d/research/git/Cassie_CFROST/Cassie_two_step/opt_two_step_ds/periodic/c_code/src/gen/J_dxDiscreteMapRightImpactDoubleSupport.cc: In function ‘void frost::gen::J_dxDiscreteMapRightImpactDoubleSupport(double*, const double*)’: /mnt/d/research/git/Cassie_CFROST/Cassie_two_step/opt_two_step_ds/periodic/c_code/src/gen/J_dxDiscreteMapRightImpactDoubleSupport.cc:96209:1: internal compiler error: Segmentation fault } ^ CMakeFiles/program.dir/build.make:5126: recipe for target 'CMakeFiles/program.dir/src/gen/J_dxDiscreteMapLeftImpactDoubleSupport.cc.o' failed make[2]: *** [CMakeFiles/program.dir/src/gen/J_dxDiscreteMapLeftImpactDoubleSupport.cc.o] Error 1 make[2]: *** Waiting for unfinished jobs.... Please submit a full bug report, with preprocessed source if appropriate. See <file:///usr/share/doc/gcc-5/README.Bugs> for instructions. CMakeFiles/program.dir/build.make:5174: recipe for target 'CMakeFiles/program.dir/src/gen/J_dxDiscreteMapRightImpactDoubleSupport.cc.o' failed make[2]: *** [CMakeFiles/program.dir/src/gen/J_dxDiscreteMapRightImpactDoubleSupport.cc.o] Error 1 CMakeFiles/Makefile2:67: recipe for target 'CMakeFiles/program.dir/all' failed make[1]: *** [CMakeFiles/program.dir/all] Error 2 Makefile:127: recipe for target 'all' failed make: *** [all] Error 2

Hi, I'm trying to get Cassie's dynamics Model. I followed the steps, but I get the following error message ¿What could I be doing wrong?

Error using RobotLinks/findBaseLink (line 30)
Duplicated base links: left_pelvis_abduction and right_pelvis_abduction.

Error in RobotLinks/configure (line 106)
base_dofs(end).Child = findBaseLink(obj,joints);

Error in RobotLinks (line 97)
configure(obj, config, base, load_path, varargin{:});

Error in Cassie (line 55)
obj = obj@RobotLinks(config, base, [], 'removeFixedJoints', true);

Error in model_gen (line 19)
cassie = Cassie(fullfile('urdf','cassie.urdf'));