Add a pre-commit config with some sensible defaults. maybe add a ci job that also runs the pre-commits

Simple CI pipeline for checking

• smoke test for build
• linting
• testing
• docker-ros (maybe?)

Add ground contact sensor to the feet in the simulation

If noise is applied to the simulated IMU the covariance matrix should be set as well

Add readme for repo and for every package in the repo. Should contain build instructions and everything else that might be important, for example subscriber/publisher and parameter descriptions for each node.

There currently exist a bunch of absolute paths in the repo (for example meshes dir for mujoco for example). This should be cleaned up. For mujoco this might require a bit of work the virtual filesystem.

Currently the code for adding the noise to the simulated imu is a bit unreadable. It looks like the noise is added all the time if one only looks at that segment. Instead of checking the parameter in the computeNoise function, it should be checked in publishImuData.

Add a ground truth publisher for publishing the pose of the base link in relation to some global frame (the floor maybe?).

The real robot uses a PD+ implementation on a uDrive board (see here. This board allows for torque control. To replicate this in the simulation a PD+ controller has to be implemented in the system interface.

Simulate a depth camera or something similar that publishers a point cloud containing points of the ground plane below the robot

We need a set of sensors for the simulation. Mainly an IMU on the body and contact sensors at the feet. Basic steps look something like

• add links to the urdf
  • imu_link
  • contact_sensor_link (left, right)
• add publishers to the mujoco simulation
• compute IMU data
  • (maybe with noise? should be toggable)
• compute contact
• publish msgs at X Hz