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quadruped_ros2_control
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70 Commits

Author SHA1 Message Date
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
Zhenbiao Huang 2052b3e9d1 add support for aliengo 2024-09-26 20:24:03 +08:00
Huang Zhenbiao c4262b42da add gait manager 2024-09-26 17:28:18 +08:00
Huang Zhenbiao 3149acf2ed state estimate tested 2024-09-25 21:01:50 +08:00
Huang Zhenbiao bfc5532ce3 ocs2 controller adding 2024-09-24 21:50:46 +08:00
Huang Zhenbiao ad680af0f1 ocs2 controller init 2024-09-24 19:48:14 +08:00
Huang Zhenbiao 5f7702bdb9 add support for foot force sensor 2024-09-24 17:13:51 +08:00
Huang Zhenbiao da99daa31c use swing all rather than stance all 2024-09-20 22:10:43 +08:00
Huang Zhenbiao 269e3b6a3d add cyber dog 2024-09-20 17:56:00 +08:00
Huang Zhenbiao ef11c036ad update README.md 2024-09-20 15:39:50 +08:00
HUANG ZHENBIAO d99c8c3b8a
Merge pull request #1 from legubiao/gazebo 
Gazebo
 2024-09-20 15:30:39 +08:00
Huang Zhenbiao 956b684c8b fix go1 gazebo visualization 2024-09-20 15:29:44 +08:00
Huang Zhenbiao 687d549a18 fix go2 config 2024-09-20 13:07:59 +08:00
Huang Zhenbiao f127ff144f can visualize and control gazebo robots 2024-09-20 12:48:45 +08:00
Huang Zhenbiao 5825c3cac2 add pd controller 2024-09-19 22:45:08 +08:00
Huang Zhenbiao 5f9a55440e can walk but cannot turn on go2 robot 2024-09-19 17:16:17 +08:00
Huang Zhenbiao 2ee53e2f51 still struggle with trot 2024-09-19 14:00:43 +08:00
Huang Zhenbiao 842a62465b hardware code cleanup 2024-09-18 22:27:16 +08:00
Huang Zhenbiao ac6e2278a1 fix joystick direction 2024-09-18 22:19:37 +08:00
Huang Zhenbiao af6599e904 use unitree rotation calculation 2024-09-18 21:48:14 +08:00
Huang Zhenbiao f0a5257852 trot but not stable 2024-09-18 19:37:01 +08:00