bipedal_mpc repository

bipedal_mpc repository

bipedal_mpc repository

Repository Summary

Checkout URI https://github.com/clearlab-sustech/bipedal_mpc.git
VCS Type git
VCS Version master
Last Updated 2024-12-30
Dev Status UNMAINTAINED
CI status No Continuous Integration
Released UNRELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Packages

Name Version
assets 0.0.0
core 0.0.0
control 0.0.0
estimation 0.0.0
gait 0.0.0
generation 0.0.0
management 0.0.0
sim 0.0.0
blasfeo_ament 0.0.0
eiquadprog 1.2.6
hpipm_ament 0.0.0
hpipm_interface_ament 0.0.0
mujocodl 0.0.0
pinocchio 2.7.1
pinocchio_interface 0.0.0
trans 0.0.0
visualization 0.0.0

README

Model Predictive Control for Bipedal Robot TRON 1 in MuJoCo Simulator

video

Build Package

Install ROS2

Refer to ROS2 official doc.

Build

cd ${source folder} & bash build.sh
echo "source ${source folder}/install/setup.bash" >> ~/.bashrc

Run Package

Run Simulation

ros2 launch sim sim_launch.py 

Run Controller

ros2 launch management management_launch.py 

CONTRIBUTING

No CONTRIBUTING.md found.

bipedal_mpc repository

bipedal_mpc repository

bipedal_mpc repository

bipedal_mpc repository

bipedal_mpc repository

bipedal_mpc repository

bipedal_mpc repository

bipedal_mpc repository

bipedal_mpc repository

bipedal_mpc repository

bipedal_mpc repository

bipedal_mpc repository

bipedal_mpc repository

bipedal_mpc repository

bipedal_mpc repository