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Thank you again for this repo.
I am wondering if you could share the data collection/training code for obtaining the actuator network.
Since the original paper uses the Anymal robot, which has ac…
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Hello,
I am using Unitree A1, and I am aware that this repo is not related to the realsense camera but thank you for sharing this repo.
Can I ask how you succeeded to use the camera input data…
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in gazebo_a1_mpc.yaml the a1_trunk_inertia is set to
`a1_trunk_inertia_xx: 0.0158533
a1_trunk_inertia_xy: 0.0
a1_trunk_inertia_xz: 0.0
a1_trunk_inertia_yz: 0.0
a1_trunk_inertia_yy: 0.0377999
a1…
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Hi Miguel,
I am implementing the champ on the real robot. But, I have observed very high ground reaction force on feet whenever foot is in contact. I am wondering is there way to control the force wi…
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Hello,
I successfully displayed the model using pinocchio2+gepetto-viewer, but the same program doesn't work in pinocchio3, reporting the error `Node does not exist.`. The gepetto-gui window only sho…
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Hi, I have some questions about your linear kalman filter.cpp.
In Mit Cheetah program, they let
$$
x = [{}^op_{com}, {}^ov_{com}, {}^op_i]^T
$$
where represents the position of COM, the velo…
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Hi,
I updated the code on October 14th, successfully compiled,and when I ran the simulation on user computer,there are some mistakes.
my code:
$ ./sim/sim
$ ./user/MIT_Co…
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Hi!
I was just wondering if it would be possible to provide errors (or estimates if it is allowed ) as either comments in the `main.m` or as a seperate .mat file. As I understand it, the data in `…
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RT.
In swing leg control, the code uses the inverse kinematics for torque calculation
`Eigen::Vector3d force_tgt = state.km_foot.cwiseProduct(state.foot_forces_kin.block(0, i));
joi…
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How the odometry of the quadruped robot was realized in this project ?