checklist.txt

update submodules:
    (make sure to first remove submodule folders)
    git submodule update

build controller:
    source ~/ocs2_ws/devel/setup.bash
    source devel/setup.bash
    echo "source devel/setup.bash" >> ~/.bashrc
    catkin build
    CI-MPC:     roslaunch legged_ctrl gazebo_a1_cimpc.launch
                roslaunch legged_ctrl hardware_go1_cimpc.launch
    or 
    convex-MPC: roslaunch legged_ctrl gazebo_a1_convex.launch


gazebo docker:
    xhost +
    docker start a1_unitree_gazebo_docker
    docker attach a1_unitree_gazebo_docker
    roslaunch unitree_gazebo normal.launch rname:=a1 wname:=earth

    docker exec -it a1_unitree_gazebo_docker bash

resetting in sim:
    cd ~/legged_ctrl_ws/src/legged_ctrl/scripts
    python resetRobot.py 

joystick
    rosrun joy joy_node


setting up julia for CI-MPC:
    cd ~/legged_ctrl_ws/src/legged_ctrl/src/mpc_ctrl/ci_mpc/lib/EmbeddedLciMpc.jl
    pkg> activate .
    pkg> instantiate 
    pkg> rm ContactImplicitMPC.jl
    pkg> dev ../ContactImplicitMPC.jl/
    Check 
        pkg> status ContactImplicitMPC 
        is local 
    julia> include("scripts/precompile_sysimage.jl")