experiment_code

Quadruped_ROS_Simulation_V2

Software package for hardware experiment for RL-augmented MPC (A1, AlienGo) Note: Slight modifications are needed to accomandate Go1 and B1 robots

Code structure for quadruped_control package

• [Common] includes leg controller, state Estimation, kinematic parameters and utility functions
• [Interface] IO interfaces for ROS/hardware
  • ROS: keyboard commands
  • Hardware: joystick (under development)
• [Messages] messages for communication (corresponds with messages in unitree_legged_sdk)
• [FSM] finite state machine and FSM states to switch between controllers (passive, PDstand, QPstand, MPC locomotion)
• [ConvexMPC] the MPC controller. It contains the MPC solver and a base class to run the controller. Besides, the learnt policy is imported via rapidJSON package and the corresponding MPC controller class use the policyIO object to calcaulte the output from the policy. The current setup is fixed to a 3-layer MLP followered by a linear output layer, can be adapted for different setup later

Dependencies

• Boost (version 1.5.4 or higher)
• CMake (version 2.8.3 or higher)
• LCM (version 1.4.0 or higher)
• Eigen3 (>3.3)
• rapidJSON

## Installation
 `mkdir build `
 `cd build`
 `cmake .. -DCMAKE_BUILD_TYPE=Release`
 `make`

## How to Run
* setup the network as in `unitree_legged_sdk` pacakge for A1 robot. The sdk inside this pacakage is compatible with A1 and AlienGo robots. For go1 robot, change the sdk

 `cd build`
 `sudo ./quad_ctrl`

## User Commands & Interface
* check the `Interface/KeyBoard.cpp` or `Interface/WirelessHandle.cpp` to see and modify definition of keyboard/joystick commands

## Todo
* Code cleanup
* Documentation