This package contains estimation algorithm C++ implementations with their Python bindings and their Python prototypes.
- Pinocchio (Required)
- See this tutorial
in order to install
pinocchio
or you can follow this tutorial to install related robotpkg software.
- See this tutorial
in order to install
- Mim_Control (Optional, needed to run demos)
- Internal github organization software see the next paragraph for the installation.
- Matplotlib (Optional, needed to run demos)
- pip or apt installable software.
- BulletUtils (Optional, needed to run demos)
- Internal github organization software see the next paragraph for the installation.
- Robot_Properties_Solo (Optional, needed to run demos)
- Internal github organization software see the next paragraph for the installation.
- Robot_Properties_Bolt (Optional, needed to run demos)
- Internal github organization software see the next paragraph for the installation.
External dependencies:
See this tutorial
in order to install pinocchio
or you can follow this tutorial
to install related robotpkg software.
We use treep in order to manage the download of our code base. See treep_installation for
the installation, and treep,
and colcon
for their usage.
Local and specific dependencies and the actual repo we need to compile:
mkdir devel
cd devel
pip install -U treep
git clone [email protected]:machines-in-motion/treep_machines_in_motion
treep --clone mim_estimation
For full installation of the package and related dependencies, use following:
treep --clone MIM_ESTIMATION
With this command all dependencies needed to run the demos are also downloaded, see this tutorial to install related dependencies for Mim_Control package.
We use colcon to build this package:
cd devel/workspace
colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release
Source the environment:
source ~/devel/workspace/install/setup.bash
To run the base EKF estimator on Solo12 with pre-defined contact schedule, follow the below steps:
source /opt/openrobots/setup.bash (source open robots)
cd demos
python3 demo_ekf_squatting_motion_cpp.py
BSD 3-Clause
Main authors:
- Shahram Khorshidi
- Ahmad Gazar
Secondary collaborators
- Maximilien Naveau ([email protected])
- Julian Viereck ([email protected])
- Avadesh Meduri ([email protected])
- Majid Kadhiv ([email protected])
- Ludovic Righetti ([email protected])
- Nick Rotella
- Brahayam Ponton
Please if you use this repository cite the work: https://arxiv.org/abs/2202.12574
@misc{khorshidi2023use,
title={On the Use of Torque Measurement in Centroidal State Estimation},
author={Shahram Khorshidi and Ahmad Gazar and Nicholas Rotella and Maximilien Naveau and Ludovic Righetti and Maren Bennewitz and Majid Khadiv},
year={2023},
eprint={2202.12574},
archivePrefix={arXiv},
primaryClass={cs.RO}
}