REx Hopper

The REx Hopper is a monopodal hopping robot with reaction wheels. This repository contains C++ code for control of the robot, both on hardware and in simulation.

Hardware First-Time Setup

See the Hardware Computer Setup doc.

Docker Container Setup

See the Docker Container doc.

C++ Build Environment Setup

See the Environment Setup doc.

ODrive Setup

See the ODrive Setup doc.

Code Execution

See the Code Execution doc.

Creating New MJCFs

See the Generating MJCFs doc.

Testing Protocol

See the Testing Protocol doc.