Zhenbiao Huang
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b76e70427a
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modified LICENSE and reference
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2024-10-03 19:26:54 +08:00 |
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Huang Zhenbiao
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979e3228b3
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load joint names and feet names from config file
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2024-10-02 13:45:21 +08:00 |
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Huang Zhenbiao
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4b8af1ab51
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modified readme
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2024-10-01 19:10:23 +08:00 |
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Huang Zhenbiao
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b2f9f0e685
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modified folder structure
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2024-10-01 13:48:49 +08:00 |
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Huang Zhenbiao
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44df86fc7f
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add visualizer
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2024-09-30 20:02:56 +08:00 |
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Huang Zhenbiao
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e6778af705
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achieved basic control on b2 robot
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2024-09-30 17:48:59 +08:00 |
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Huang Zhenbiao
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2c9cd21c00
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achieved basic control on go2 and aliengo
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2024-09-30 15:10:08 +08:00 |
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Huang Zhenbiao
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4cb1657df5
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achieved basic control on go1
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2024-09-30 11:59:35 +08:00 |
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Huang Zhenbiao
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0ed329a44d
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avoid multiple switch event
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2024-09-29 20:45:50 +08:00 |
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Huang Zhenbiao
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e0020b4bfe
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better fsm switch logic for unitree controller
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2024-09-29 20:27:02 +08:00 |
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Huang Zhenbiao
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66c20b4050
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able to work on wbc
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2024-09-29 17:09:06 +08:00 |
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Zhenbiao Huang
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00b6dbaeeb
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ad qpoases colcon
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2024-09-28 23:05:13 +08:00 |
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Huang Zhenbiao
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ee4118b4e5
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current problem is from wbc
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2024-09-27 17:40:22 +08:00 |
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Zhenbiao Huang
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d4f17e631e
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can run main thread
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2024-09-26 22:18:11 +08:00 |
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Huang Zhenbiao
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c4262b42da
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add gait manager
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2024-09-26 17:28:18 +08:00 |
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Huang Zhenbiao
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3149acf2ed
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state estimate tested
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2024-09-25 21:01:50 +08:00 |
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Huang Zhenbiao
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bfc5532ce3
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ocs2 controller adding
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2024-09-24 21:50:46 +08:00 |
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Huang Zhenbiao
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ad680af0f1
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ocs2 controller init
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2024-09-24 19:48:14 +08:00 |
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Huang Zhenbiao
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da99daa31c
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use swing all rather than stance all
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2024-09-20 22:10:43 +08:00 |
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Huang Zhenbiao
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269e3b6a3d
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add cyber dog
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2024-09-20 17:56:00 +08:00 |
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Huang Zhenbiao
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956b684c8b
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fix go1 gazebo visualization
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2024-09-20 15:29:44 +08:00 |
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Huang Zhenbiao
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687d549a18
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fix go2 config
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2024-09-20 13:07:59 +08:00 |
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Huang Zhenbiao
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f127ff144f
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can visualize and control gazebo robots
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2024-09-20 12:48:45 +08:00 |
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Huang Zhenbiao
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5825c3cac2
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add pd controller
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2024-09-19 22:45:08 +08:00 |
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Huang Zhenbiao
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5f9a55440e
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can walk but cannot turn on go2 robot
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2024-09-19 17:16:17 +08:00 |
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Huang Zhenbiao
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2ee53e2f51
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still struggle with trot
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2024-09-19 14:00:43 +08:00 |
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Huang Zhenbiao
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ac6e2278a1
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fix joystick direction
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2024-09-18 22:19:37 +08:00 |
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Huang Zhenbiao
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af6599e904
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use unitree rotation calculation
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2024-09-18 21:48:14 +08:00 |
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Huang Zhenbiao
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f0a5257852
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trot but not stable
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2024-09-18 19:37:01 +08:00 |
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Huang Zhenbiao
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da5be83eda
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refact with reference
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2024-09-18 13:52:37 +08:00 |
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Huang Zhenbiao
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e390835458
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refact with reference
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2024-09-18 13:18:02 +08:00 |
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Huang Zhenbiao
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85be4715ab
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refact with reference
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2024-09-18 12:29:26 +08:00 |
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Huang Zhenbiao
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657029864e
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using kdl::RPY
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2024-09-17 19:42:21 +08:00 |
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Huang Zhenbiao
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8cedc4f422
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balance control achieved
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2024-09-17 18:21:04 +08:00 |
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Huang Zhenbiao
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79fc0677f5
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can stand but not stable
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2024-09-17 14:03:08 +08:00 |
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Huang Zhenbiao
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5eaf8e1e17
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tried to add balance test
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2024-09-16 21:15:34 +08:00 |
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Huang Zhenbiao
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028b7b52b1
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add imu estimator
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2024-09-16 13:44:08 +08:00 |
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Zhenbiao Huang
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9646e428c6
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fixed the frequency problem
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2024-09-14 17:54:39 +08:00 |
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Huang Zhenbiao
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0561c115ba
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add free stand
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2024-09-13 15:00:20 +08:00 |
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Huang Zhenbiao
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7e9e1e346c
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add swing test mode
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2024-09-12 20:04:20 +08:00 |
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Huang Zhenbiao
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073f18bff1
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init swing test
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2024-09-12 13:56:51 +08:00 |
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Huang Zhenbiao
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20c2c29bef
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can stand up
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2024-09-11 20:41:12 +08:00 |
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Huang Zhenbiao
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26ff7f4974
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add state switch
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2024-09-11 14:01:07 +08:00 |
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Huang Zhenbiao
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a494a4e854
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go1 description and keyboard input
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2024-09-11 11:32:54 +08:00 |
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Zhenbiao Huang
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0cc499210a
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achieved passive mode on unitree simulation
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2024-09-10 22:30:30 +08:00 |
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Zhenbiao Huang
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2e94c2eb32
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init commit
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2024-09-09 22:18:19 +08:00 |