mpc and wbc for mini cheetah in pybullet
mpc forked from https://github.com/Derek-TH-Wang/quadruped_ctrl
we added the wbc
System requirements: Ubuntu 16.04 ros Kinetic
Ubuntu 18.04 ros Melodic
python3 pybullet numpy
Running:
run the controller in simulator:
1.roscore
2.rosrun quadruped_ctrl walking_simulation.py
3.roslaunch quadruped_ctrl quadruped_ctrl.launch
stand: 4.rosservice call /robot_mode "cmd: 1"
5.rosservice call /robot_mode "cmd: 4"
you can switch the gait type:
6.rosservice call /gait_type "cmd: 9"
gait type:
1:bunding
2:pronking
3:random
4:standing
5:trotRunning
6:random2
7:galloping
8:pacing
9:trot (same as 0)
10:walking
11:walking2