There is no simulation file in this branch.
- this is the branch for renewing!
- controller : zmp mpc preview (citbrains)
pip install numpy
pip install control
- bulid
libthmos_leg_ik.so
cd scripts/THMOS_IK_MAKER/build
cmake ..
make
cp libthmos_leg_ik.so ../../../lib/
- build ros packet
thmos_zmp_walk
catkin build thmos_zmp_walk
- ros (use thmos_code)
rosrun thmos_zmp_walk mos_zmp_run.launch
sgh changed
- kinematics -> cpp is better!
- planner -> threading is better!