unitree_ros2_pybullet

About The Project

This project mainly uses the unitree a1 robot for dynamics control to achieve a stable trotting gait.

There are four examples:

• pose with position control to verify kinematics
• torque control mode motor test
• balancing controller
• trotting gait

Of course, no one template will serve all projects since your needs may be different. So I'll be adding more in the near future. You may also suggest changes by forking this repo and creating a pull request or opening an issue. Thanks to all the people have contributed to expanding this template!

Use the BLANK_README.md to get started.

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Built With

I recommend you to run this project with:

• ubuntu 22.04
• ros-humble
• pybullet

Getting Started

This is an example of how you may give instructions on setting up your project locally. To get a local copy up and running follow these simple example steps.

1. mkdir -p ~/ros2_ws/src
   cd ~/ros2_ws/src

2. Clone the repo

   git clone https://github.com/BruceXing24/unitree_ros2_pybullet

3. build

   cd ..
   colcon build --symlink-install

Usage

pose control

Use this space to show useful examples of how a project can be used. Additional screenshots, code examples and demos work well in this space. You may also link to more resources.

torque control mode motor test

Use this space to show useful examples of how a project can be used. Additional screenshots, code examples and demos work well in this space. You may also link to more resources.

balancing controller

Use this space to show useful examples of how a project can be used. Additional screenshots, code examples and demos work well in this space. You may also link to more resources.

trotting gait

Use this space to show useful examples of how a project can be used. Additional screenshots, code examples and demos work well in this space. You may also link to more resources.

MPC is comming soon...

Contributing

Contributions are what make the open source community such an amazing place to learn, inspire, and create. Any contributions you make are greatly appreciated.

If you have a suggestion that would make this better, please fork the repo and create a pull request. You can also simply open an issue with the tag "enhancement". Don't forget to give the project a star! Thanks again!

1. Fork the Project
2. Create your Feature Branch (git checkout -b feature/AmazingFeature)
3. Commit your Changes (git commit -m 'Add some AmazingFeature')
4. Push to the Branch (git push origin feature/AmazingFeature)
5. Open a Pull Request

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License

Distributed under the MIT License. See LICENSE.txt for more information.

Contact

Your Name - @your_twitter - [email protected]

Project Link: https://github.com/your_username/repo_name

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