ROS Index
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Repository Summary
| Description | |
| Checkout URI | https://github.com/clearlab-sustech/bipedal_mpc.git |
| VCS Type | git |
| VCS Version | master |
| Last Updated | 2024-12-30 |
| Dev Status | UNKNOWN |
| Released | UNRELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
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
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