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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
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.
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