-
Hello, I purchased A1 a few months ago for academic research on Estimation. To do this, I need to send high-level commands (walk), and receive low-level sensor readings (for the Estimation). How can t…
-
Thanks to your wonderful work.
I noticed that you set the position and angle in 'legged_robot_config.py' and I wonder how you verified the position and angle of the camera. Because I am trying to tra…
-
Hi,
When I try lo load the symmetries for the robot aliengo as follows:
`robot, G = load_symmetric_system(robot_name='aliengo')`
I get the following error (which does not happen only for **mi…
-
Since the LCM( `example/lcm_server.cpp` ) is a kind of example or high-level interface, it shouldn't link to the SDK. Some users don't need LCM at all.
Consider separated it into another Repo like […
-
# Robot is assigned initial Torque or Velocity when reseted
After long investigation of the robot's behaviour, I couldn't explain why the robot was jumping after a reset. For sure this causes proble…
-
After an episode, an environment is reseted. The different environments are reseted asynchronously. Thus, we need to reset also the stored variables of the model based controller. For this, we need : …
-
I would like to use extra packages ( e.g. https://github.com/sktometometo/esp_now_ros ) in addition to jsk_robot on Go1.
Is it necessary to modify `build_user.sh` for this?
And also I would like t…
-
### Description
I am trying to integrate the `ocs2_perceptive_anymal` in the `ocs2_robotics_example` framework for the Unitree B1 and Unitree Aliengo quadruped robots. Initially, while the front legs…
-
'LeggedRobot' has no attribute named "_reward_power_distribution".
-
### Define Jacobian and GRF Frame
Now, Jacobian and GRF Frame are not specified, but there are probably in the world frame
- GRF is outputed by the neural network (frame independant)
- Jacobian e…