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quadruped_ros2_control
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  • 6015ae749c update README.md main Zhenbiao Huang 2024-11-06 20:07:48 +0800
  • 1a5baa354d fix for leg pd controller under ubuntu 24 Huang Zhenbiao 2024-10-28 10:55:35 +0800
  • 514958edb9 fix readme for gazebo classic Huang Zhenbiao 2024-10-28 10:26:18 +0800
  • 818211736e add rl for x30 Huang Zhenbiao 2024-10-25 12:47:03 +0800
  • f8a32f29db try to add gazebo classic simulation for rl Huang Zhenbiao 2024-10-24 21:02:55 +0800
  • 834ba68d4b add more support for gazebo classic simulationn Huang Zhenbiao 2024-10-24 15:05:26 +0800
  • a6080328e0 update policy Huang Zhenbiao 2024-10-21 22:08:00 +0800
  • ffa6c44184 rl controller enhanced Huang Zhenbiao 2024-10-21 21:47:25 +0800
  • dda29e8a1f add default pos for rl controller Zhenbiao Huang 2024-10-21 17:40:42 +0800
  • ca616a8c87 add pos parameter for unitree guide controller Huang Zhenbiao 2024-10-21 12:43:17 +0800
  • 4575779eb5 fix leg controller in jazzy, simplified gazebo launch file Zhenbiao Huang 2024-10-20 12:42:34 +0800
  • d3f30e7750 add warning for unitree sdk2 Zhenbiao Huang 2024-10-18 22:39:30 +0800
  • 0353e101c7 add warning for unitree sdk2 Zhenbiao Huang 2024-10-18 22:37:36 +0800
  • eeff28fb7a fix ocs2 performance under ubuntu 24.04 Zhenbiao Huang 2024-10-18 22:22:07 +0800
  • b8e6d1bec3 add ocs2 control for deep robotics Huang Zhenbiao 2024-10-18 16:23:49 +0800
  • fe28277003 ocs2 launch file refact Huang Zhenbiao 2024-10-18 11:47:31 +0800
  • 316d333278 add support for gazebo classic simulator Huang Zhenbiao 2024-10-17 21:45:48 +0800
  • 85bd924bee add support for anymal c Huang Zhenbiao 2024-10-16 22:59:11 +0800
  • 0ff1b344e7 add estimator Huang Zhenbiao 2024-10-15 22:40:15 +0800
  • 07e3cf086e add estimator Huang Zhenbiao 2024-10-15 20:17:03 +0800
  • 45fde17425 add deep robotics x30 Huang Zhenbiao 2024-10-14 22:30:40 +0800
  • a17b9448c3 fix launch for humble Zhenbiao Huang 2024-10-12 00:56:49 +0800
  • 934d1ec649
         Merge pull request #4 from legubiao/legged_gym HUANG ZHENBIAO 2024-10-10 22:45:59 +0800
  • 50f151753f add more gazebo simulation support Zhenbiao Huang 2024-10-10 22:44:32 +0800
  • dc266f15d5 tried go2 rl control but failed Zhenbiao Huang 2024-10-10 21:22:58 +0800
  • ff374d7005 used share_ptr rather than reference in CtrlComponent Zhenbiao Huang 2024-10-10 20:31:03 +0800
  • 87b9759ddf add gazebo simulation for go2 Zhenbiao Huang 2024-10-10 10:23:54 +0800
  • 6385d8ed58 add deep robotics lite3 Huang Zhenbiao 2024-10-09 21:17:45 +0800
  • eaab6d7a69 add gazebo simulation for A1, tested rl controller passed Huang Zhenbiao 2024-10-08 21:36:42 +0800
  • 09ec0abde4 add load config file Huang Zhenbiao 2024-10-07 11:57:32 +0800
  • bc8b3ded39 modified observation buffer Zhenbiao Huang 2024-10-06 20:19:36 +0800
  • f8b3efdbdb can run if remove pytorch support. Huang Zhenbiao 2024-10-04 20:14:34 +0800
  • b064925c4b add rl_sdk Zhenbiao Huang 2024-10-03 20:51:33 +0800
  • b76e70427a modified LICENSE and reference Zhenbiao Huang 2024-10-03 19:26:54 +0800
  • 979e3228b3 load joint names and feet names from config file Huang Zhenbiao 2024-10-02 13:45:21 +0800
  • 86bbcf75e6 add support for unitree A1 simulation Huang Zhenbiao 2024-10-01 19:54:17 +0800
  • 4b8af1ab51 modified readme Huang Zhenbiao 2024-10-01 19:10:23 +0800
  • b2f9f0e685 modified folder structure Huang Zhenbiao 2024-10-01 13:48:49 +0800
  • 618742ac44
         Merge pull request #2 from legubiao/ocs2 HUANG ZHENBIAO 2024-09-30 20:06:42 +0800
  • 15b3d18181 fix launch Huang Zhenbiao 2024-09-30 20:06:20 +0800
  • 44df86fc7f add visualizer Huang Zhenbiao 2024-09-30 20:02:56 +0800
  • e6778af705 achieved basic control on b2 robot Huang Zhenbiao 2024-09-30 17:48:59 +0800
  • 2c9cd21c00 achieved basic control on go2 and aliengo Huang Zhenbiao 2024-09-30 15:10:08 +0800
  • 4cb1657df5 achieved basic control on go1 Huang Zhenbiao 2024-09-30 11:59:35 +0800
  • 0ed329a44d avoid multiple switch event Huang Zhenbiao 2024-09-29 20:45:50 +0800
  • e0020b4bfe better fsm switch logic for unitree controller Huang Zhenbiao 2024-09-29 20:27:02 +0800
  • 66c20b4050 able to work on wbc Huang Zhenbiao 2024-09-29 17:09:06 +0800
  • 00b6dbaeeb ad qpoases colcon Zhenbiao Huang 2024-09-28 23:05:13 +0800
  • ee4118b4e5 current problem is from wbc Huang Zhenbiao 2024-09-27 17:40:22 +0800
  • d4f17e631e can run main thread Zhenbiao Huang 2024-09-26 22:18:11 +0800
  • 2052b3e9d1 add support for aliengo Zhenbiao Huang 2024-09-26 20:24:03 +0800
  • c4262b42da add gait manager Huang Zhenbiao 2024-09-26 17:28:18 +0800
  • 3149acf2ed state estimate tested Huang Zhenbiao 2024-09-25 21:01:50 +0800
  • bfc5532ce3 ocs2 controller adding Huang Zhenbiao 2024-09-24 21:50:46 +0800
  • ad680af0f1 ocs2 controller init Huang Zhenbiao 2024-09-24 19:48:14 +0800
  • 5f7702bdb9 add support for foot force sensor Huang Zhenbiao 2024-09-24 17:13:51 +0800
  • da99daa31c use swing all rather than stance all Huang Zhenbiao 2024-09-20 22:10:43 +0800
  • 269e3b6a3d add cyber dog Huang Zhenbiao 2024-09-20 17:56:00 +0800
  • ef11c036ad update README.md Huang Zhenbiao 2024-09-20 15:39:50 +0800
  • d99c8c3b8a
         Merge pull request #1 from legubiao/gazebo HUANG ZHENBIAO 2024-09-20 15:30:39 +0800
  • 956b684c8b fix go1 gazebo visualization Huang Zhenbiao 2024-09-20 15:29:44 +0800
  • 687d549a18 fix go2 config Huang Zhenbiao 2024-09-20 13:07:59 +0800
  • f127ff144f can visualize and control gazebo robots Huang Zhenbiao 2024-09-20 12:48:45 +0800
  • 5825c3cac2 add pd controller Huang Zhenbiao 2024-09-19 22:45:08 +0800
  • 5f9a55440e can walk but cannot turn on go2 robot Huang Zhenbiao 2024-09-19 17:16:17 +0800
  • 2ee53e2f51 still struggle with trot Huang Zhenbiao 2024-09-19 14:00:43 +0800
  • 842a62465b hardware code cleanup Huang Zhenbiao 2024-09-18 22:27:16 +0800
  • ac6e2278a1 fix joystick direction Huang Zhenbiao 2024-09-18 22:19:37 +0800
  • af6599e904 use unitree rotation calculation Huang Zhenbiao 2024-09-18 21:48:14 +0800
  • f0a5257852 trot but not stable Huang Zhenbiao 2024-09-18 19:37:01 +0800
  • da5be83eda refact with reference Huang Zhenbiao 2024-09-18 13:52:37 +0800
  • e390835458 refact with reference Huang Zhenbiao 2024-09-18 13:18:02 +0800
  • 85be4715ab refact with reference Huang Zhenbiao 2024-09-18 12:29:26 +0800
  • 657029864e using kdl::RPY Huang Zhenbiao 2024-09-17 19:42:21 +0800
  • 8cedc4f422 balance control achieved Huang Zhenbiao 2024-09-17 18:21:04 +0800
  • 79fc0677f5 can stand but not stable Huang Zhenbiao 2024-09-17 14:03:08 +0800
  • 5eaf8e1e17 tried to add balance test Huang Zhenbiao 2024-09-16 21:15:34 +0800
  • 028b7b52b1 add imu estimator Huang Zhenbiao 2024-09-16 13:44:08 +0800
  • 9646e428c6 fixed the frequency problem Zhenbiao Huang 2024-09-14 17:54:39 +0800
  • 691734dc19 add imu to hardware interface Zhenbiao Huang 2024-09-14 11:41:38 +0800
  • 4649f555e6 add joystick control input Huang Zhenbiao 2024-09-13 16:41:58 +0800
  • 0561c115ba add free stand Huang Zhenbiao 2024-09-13 15:00:20 +0800
  • 7e9e1e346c add swing test mode Huang Zhenbiao 2024-09-12 20:04:20 +0800
  • 073f18bff1 init swing test Huang Zhenbiao 2024-09-12 13:56:51 +0800
  • 20c2c29bef can stand up Huang Zhenbiao 2024-09-11 20:41:12 +0800
  • 26ff7f4974 add state switch Huang Zhenbiao 2024-09-11 14:01:07 +0800
  • a494a4e854 go1 description and keyboard input Huang Zhenbiao 2024-09-11 11:32:54 +0800
  • 0cc499210a achieved passive mode on unitree simulation Zhenbiao Huang 2024-09-10 22:30:30 +0800
  • acc6540534 can visualize mujoco simulation Huang Zhenbiao 2024-09-10 13:18:40 +0800
  • 2e94c2eb32 init commit Zhenbiao Huang 2024-09-09 22:18:19 +0800