36 Commits

Author	SHA1	Message	Date
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
Zhenbiao Huang	50f151753f	add more gazebo simulation support	2024-10-10 22:44:32 +08:00
Zhenbiao Huang	ff374d7005	used share_ptr rather than reference in CtrlComponent	2024-10-10 20:31:03 +08:00
Zhenbiao Huang	b76e70427a	modified LICENSE and reference	2024-10-03 19:26:54 +08:00
Huang Zhenbiao	b2f9f0e685	modified folder structure	2024-10-01 13:48:49 +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	e0020b4bfe	better fsm switch logic for unitree controller	2024-09-29 20:27:02 +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	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	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
Huang Zhenbiao	da5be83eda	refact with reference	2024-09-18 13:52:37 +08:00
Huang Zhenbiao	e390835458	refact with reference	2024-09-18 13:18:02 +08:00
Huang Zhenbiao	85be4715ab	refact with reference	2024-09-18 12:29:26 +08:00
Huang Zhenbiao	657029864e	using kdl::RPY	2024-09-17 19:42:21 +08:00
Huang Zhenbiao	8cedc4f422	balance control achieved	2024-09-17 18:21:04 +08:00
Huang Zhenbiao	79fc0677f5	can stand but not stable	2024-09-17 14:03:08 +08:00
Huang Zhenbiao	5eaf8e1e17	tried to add balance test	2024-09-16 21:15:34 +08:00
Huang Zhenbiao	028b7b52b1	add imu estimator	2024-09-16 13:44:08 +08:00
Zhenbiao Huang	9646e428c6	fixed the frequency problem	2024-09-14 17:54:39 +08:00
Huang Zhenbiao	0561c115ba	add free stand	2024-09-13 15:00:20 +08:00
Huang Zhenbiao	7e9e1e346c	add swing test mode	2024-09-12 20:04:20 +08:00
Huang Zhenbiao	073f18bff1	init swing test	2024-09-12 13:56:51 +08:00
Huang Zhenbiao	20c2c29bef	can stand up	2024-09-11 20:41:12 +08:00
Huang Zhenbiao	26ff7f4974	add state switch	2024-09-11 14:01:07 +08:00
Huang Zhenbiao	a494a4e854	go1 description and keyboard input	2024-09-11 11:32:54 +08:00
Zhenbiao Huang	0cc499210a	achieved passive mode on unitree simulation	2024-09-10 22:30:30 +08:00