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https://github.com/ami-iit/paper_sorrentino_ral2024_balancing_torque

https://github.com/ami-iit/paper_sorrentino_ral2024_balancing_torque

Science Score: 13.0%

This score indicates how likely this project is to be science-related based on various indicators:

  • ○
    CITATION.cff file
  • ✓
    codemeta.json file
    Found codemeta.json file
  • ○
    .zenodo.json file
  • ○
    DOI references
  • ○
    Academic publication links
  • ○
    Committers with academic emails
  • ○
    Institutional organization owner
  • ○
    JOSS paper metadata
  • ○
    Scientific vocabulary similarity
    Low similarity (6.1%) to scientific vocabulary
Last synced: 9 months ago · JSON representation

Repository

Basic Info
  • Host: GitHub
  • Owner: ami-iit
  • License: bsd-3-clause
  • Language: C++
  • Default Branch: main
  • Size: 69.3 KB
Statistics
  • Stars: 0
  • Watchers: 4
  • Forks: 0
  • Open Issues: 0
  • Releases: 0
Created over 1 year ago · Last pushed over 1 year ago
Metadata Files
Readme License

README.md

papersorrentinoral2024balancingtorque

https://github.com/user-attachments/assets/2ccb8642-48a3-49d0-bb03-695afd494a49

Installation

For all the following steps, open a terminal and move to a directory where to install the software. All the following steps are meant to be executed sequentially in this terminal.

Clone this repo:

git clone https://github.com/ami-iit/paper_sorrentino_ral2024_balancing_torque

Create a conda environment:

conda env create -f environment.yaml

Once created, activate the conda environment:

conda activate momentumbasedtorquecontrolenv

Clone the bipedal-locomotion-framework and checkout the restoreUFK branch of this fork:

git clone https://github.com/ami-iit/bipedal-locomotion-framework cd bipedal-locomotion-framework git remote add fork https://github.com/isorrentino/bipedal-locomotion-framework git fetch fork git checkout restoreUKF

Configure the bipedal-locomotion-framework

cmake -S . -B build/ \ -DCMAKE_INSTALL_PREFIX=$CONDA_PREFIX \ -DFRAMEWORK_COMPILE_PYTHON_BINDINGS:BOOL=OFF

Compile and install it:

cmake --build build/ --target install

It might take a while.

Configure the MomentumBasedTorqueController:

cd ../paper_sorrentino_ral2024_balancing_torque cmake -S . -B build/ \ -DCMAKE_INSTALL_PREFIX=$CONDA_PREFIX

Compile and install it:

cmake --build build/ --target install

Simulation

Open a terminal and run:

conda activate momentumbasedtorquecontrolenv export GZ_SIM_RESOURCE_PATH=<user_directory>/paper_sorrentino_ral2024_balancing_torque/config/robots/ergoCubGazeboV1_1/:$GZ_SIM_RESOURCE_PATH export YARP_ROBOT_NAME=ergoCubGazeboV1_1

replacing <user_directory> with yours.

Moreover, consider to add this command to your .bashrc to avoid running it everytime.

Then, run:

yarpserver --write

In another terminal, launch gz-sim:

cd ./paper_sorrentino_ral2024_balancing_torque/config/robots/ergoCubGazeboV1_1/world YARP_CLOCK=/clock gz sim world.sdf -r

In another terminal, run the controller:

cd ./paper_sorrentino_ral2024_balancing_torque/config/robots/ergoCubGazeboV1_1 YARP_CLOCK=/clock MomentumBasedTorqueControl

Owner

  • Name: Artificial and Mechanical Intelligence
  • Login: ami-iit
  • Kind: organization
  • Location: Italy

GitHub Events

Total
  • Delete event: 1
  • Issue comment event: 1
  • Member event: 2
  • Push event: 5
  • Pull request event: 2
  • Fork event: 1
  • Create event: 3
Last Year
  • Delete event: 1
  • Issue comment event: 1
  • Member event: 2
  • Push event: 5
  • Pull request event: 2
  • Fork event: 1
  • Create event: 3

Committers

Last synced: 12 months ago

All Time
  • Total Commits: 5
  • Total Committers: 2
  • Avg Commits per committer: 2.5
  • Development Distribution Score (DDS): 0.2
Past Year
  • Commits: 5
  • Committers: 2
  • Avg Commits per committer: 2.5
  • Development Distribution Score (DDS): 0.2
Top Committers
Name Email Commits
Ines Sorrentino 4****o 4
Lorenzo Moretti 1****i 1

Issues and Pull Requests

Last synced: 10 months ago

All Time
  • Total issues: 0
  • Total pull requests: 2
  • Average time to close issues: N/A
  • Average time to close pull requests: 19 days
  • Total issue authors: 0
  • Total pull request authors: 1
  • Average comments per issue: 0
  • Average comments per pull request: 0.5
  • Merged pull requests: 2
  • Bot issues: 0
  • Bot pull requests: 0
Past Year
  • Issues: 0
  • Pull requests: 2
  • Average time to close issues: N/A
  • Average time to close pull requests: 19 days
  • Issue authors: 0
  • Pull request authors: 1
  • Average comments per issue: 0
  • Average comments per pull request: 0.5
  • Merged pull requests: 2
  • Bot issues: 0
  • Bot pull requests: 0
View more stats
Top Authors
Issue Authors
Pull Request Authors
  • LoreMoretti (2)
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