Question about the controller used on the real Cassie

[pFernbach]

Hello, first I wanted to say that the results of your paper are very impressive.

I was wondering which of the controllers of this package (cassie_controller 1 to 4) did you use to generate the motion on the real robot ? As far as I can tell between the controller 3 and 4 the ALIP model part is identical, but controller 3 use IK + passivity based controller to compute torques and controller 4 use Input Output Linearization.

I would have assumed that the latest one is the one you used on the robot, but in your paper you mention specifically that you used IK instead of Input Output Linearization. So could you please confirm if you used controller_3 or something else ?