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quadruped_ros2_control
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90 Commits

Author SHA1 Message Date
Zhenbiao Huang 6015ae749c update README.md 2024-11-06 20:07:48 +08:00
Huang Zhenbiao 1a5baa354d fix for leg pd controller under ubuntu 24 2024-10-28 10:55:35 +08:00
Huang Zhenbiao 514958edb9 fix readme for gazebo classic 2024-10-28 10:26:18 +08:00
Huang Zhenbiao 818211736e add rl for x30 2024-10-25 12:47:03 +08:00
Huang Zhenbiao f8a32f29db try to add gazebo classic simulation for rl 2024-10-24 21:02:55 +08:00
Huang Zhenbiao 834ba68d4b add more support for gazebo classic simulationn 2024-10-24 15:05:26 +08:00
Huang Zhenbiao a6080328e0 update policy 2024-10-21 22:08:00 +08:00
Huang Zhenbiao ffa6c44184 rl controller enhanced 2024-10-21 21:47:25 +08:00
Zhenbiao Huang dda29e8a1f add default pos for rl controller 2024-10-21 17:40:42 +08:00
Huang Zhenbiao ca616a8c87 add pos parameter for unitree guide controller 2024-10-21 12:43:17 +08:00
Zhenbiao Huang 4575779eb5 fix leg controller in jazzy, simplified gazebo launch file 2024-10-20 12:42:34 +08:00
Zhenbiao Huang d3f30e7750 add warning for unitree sdk2 2024-10-18 22:39:30 +08:00
Zhenbiao Huang 0353e101c7 add warning for unitree sdk2 2024-10-18 22:37:36 +08:00
Zhenbiao Huang eeff28fb7a fix ocs2 performance under ubuntu 24.04 2024-10-18 22:22:07 +08:00
Huang Zhenbiao b8e6d1bec3 add ocs2 control for deep robotics 2024-10-18 16:23:49 +08:00
Huang Zhenbiao fe28277003 ocs2 launch file refact 2024-10-18 11:47:31 +08:00
Huang Zhenbiao 316d333278 add support for gazebo classic simulator 2024-10-17 21:45:48 +08:00
Huang Zhenbiao 85bd924bee add support for anymal c 2024-10-16 22:59:11 +08:00
Huang Zhenbiao 0ff1b344e7 add estimator 2024-10-15 22:40:15 +08:00
Huang Zhenbiao 07e3cf086e add estimator 2024-10-15 20:17:03 +08:00
Huang Zhenbiao 45fde17425 add deep robotics x30 2024-10-14 22:30:40 +08:00
Zhenbiao Huang a17b9448c3 fix launch for humble 2024-10-12 00:56:49 +08:00
HUANG ZHENBIAO 934d1ec649
Merge pull request #4 from legubiao/legged_gym 
Legged gym
 2024-10-10 22:45:59 +08:00
Zhenbiao Huang 50f151753f add more gazebo simulation support 2024-10-10 22:44:32 +08:00
Zhenbiao Huang dc266f15d5 tried go2 rl control but failed 2024-10-10 21:22:58 +08:00
Zhenbiao Huang ff374d7005 used share_ptr rather than reference in CtrlComponent 2024-10-10 20:31:03 +08:00
Zhenbiao Huang 87b9759ddf add gazebo simulation for go2 2024-10-10 10:23:54 +08:00
Huang Zhenbiao 6385d8ed58 add deep robotics lite3 2024-10-09 21:17:45 +08:00
Huang Zhenbiao eaab6d7a69 add gazebo simulation for A1, tested rl controller passed 2024-10-08 21:36:42 +08:00
Huang Zhenbiao 09ec0abde4 add load config file 2024-10-07 11:57:32 +08:00
Zhenbiao Huang bc8b3ded39 modified observation buffer 2024-10-06 20:19:36 +08:00
Huang Zhenbiao f8b3efdbdb can run if remove pytorch support. 2024-10-04 20:14:34 +08:00
Zhenbiao Huang b064925c4b add rl_sdk 2024-10-03 20:51:33 +08:00
Zhenbiao Huang b76e70427a modified LICENSE and reference 2024-10-03 19:26:54 +08:00
Huang Zhenbiao 979e3228b3 load joint names and feet names from config file 2024-10-02 13:45:21 +08:00
Huang Zhenbiao 86bbcf75e6 add support for unitree A1 simulation 2024-10-01 19:54:17 +08:00
Huang Zhenbiao 4b8af1ab51 modified readme 2024-10-01 19:10:23 +08:00
Huang Zhenbiao b2f9f0e685 modified folder structure 2024-10-01 13:48:49 +08:00
HUANG ZHENBIAO 618742ac44
Merge pull request #2 from legubiao/ocs2 
Ocs2
 2024-09-30 20:06:42 +08:00
Huang Zhenbiao 15b3d18181 fix launch 2024-09-30 20:06:20 +08:00
Huang Zhenbiao 44df86fc7f add visualizer 2024-09-30 20:02:56 +08:00
Huang Zhenbiao e6778af705 achieved basic control on b2 robot 2024-09-30 17:48:59 +08:00
Huang Zhenbiao 2c9cd21c00 achieved basic control on go2 and aliengo 2024-09-30 15:10:08 +08:00
Huang Zhenbiao 4cb1657df5 achieved basic control on go1 2024-09-30 11:59:35 +08:00
Huang Zhenbiao 0ed329a44d avoid multiple switch event 2024-09-29 20:45:50 +08:00
Huang Zhenbiao e0020b4bfe better fsm switch logic for unitree controller 2024-09-29 20:27:02 +08:00
Huang Zhenbiao 66c20b4050 able to work on wbc 2024-09-29 17:09:06 +08:00
Zhenbiao Huang 00b6dbaeeb ad qpoases colcon 2024-09-28 23:05:13 +08:00
Huang Zhenbiao ee4118b4e5 current problem is from wbc 2024-09-27 17:40:22 +08:00
Zhenbiao Huang d4f17e631e can run main thread 2024-09-26 22:18:11 +08:00