Reactive walking controller in simulation

1

Hi,
Where can I find code for the simulation in the following link on ODRI youtube channel:

Thank you

1 Like
2

Hello @aliasneo015 ,

I am glad to see people are being interested by this work. The controller that you can see in the simulation is still being worked on. Hopefully it will be finalized soon with a release in the coming weeks once performances are satisfying and the code is properly cleaned and commented.

The simulation software is PyBullet that you can easily install for Python with something like " pip3 install --user pybullet ". For the documentation you can check here: https://docs.google.com/document/d/10sXEhzFRSnvFcl3XxNGhnD4N2SedqwdAvK3dsihxVUA/preview# . You can also have a look at https://github.com/Gepetto/solo-pybullet for a basic example with Solo.

Best,

3

Hi @paLeziart

Thank you for your quick response. It would be great if you could post the code for the controller, even if it is a in draft state, something is always better :slight_smile:

Looking forward eagerly :slight_smile:

4

I think this is the repo and work may still be going on.

5

Hello!

Yes I am still working on the controller on this repository. You can try to use it but the installation is not really user-friendly.

Packaging efforts are being done to have an easier installation. Once done it will be available on https://github.com/Gepetto/quadruped-reactive-walking

Best regards,