{"id":19963340,"url":"https://github.com/advrhumanoids/casannis_walking","last_synced_at":"2025-10-07T06:54:13.888Z","repository":{"id":73441052,"uuid":"329594957","full_name":"ADVRHumanoids/casannis_walking","owner":"ADVRHumanoids","description":"Casadi based walking code for quadrupeds and quadruped manipulators using Trajectory Optimization","archived":false,"fork":false,"pushed_at":"2024-12-16T15:49:31.000Z","size":1342,"stargazers_count":9,"open_issues_count":2,"forks_count":1,"subscribers_count":5,"default_branch":"tourbot22","last_synced_at":"2025-09-09T00:25:05.321Z","etag":null,"topics":[],"latest_commit_sha":null,"homepage":"","language":"Python","has_issues":true,"has_wiki":null,"has_pages":null,"mirror_url":null,"source_name":null,"license":null,"status":null,"scm":"git","pull_requests_enabled":true,"icon_url":"https://github.com/ADVRHumanoids.png","metadata":{"files":{"readme":"README.md","changelog":null,"contributing":null,"funding":null,"license":null,"code_of_conduct":null,"threat_model":null,"audit":null,"citation":null,"codeowners":null,"security":null,"support":null,"governance":null,"roadmap":null,"authors":null,"dei":null,"publiccode":null,"codemeta":null,"zenodo":null}},"created_at":"2021-01-14T11:28:43.000Z","updated_at":"2025-08-28T00:58:45.000Z","dependencies_parsed_at":null,"dependency_job_id":"dc6024f6-e359-4c9e-90c1-994c8641fb89","html_url":"https://github.com/ADVRHumanoids/casannis_walking","commit_stats":null,"previous_names":[],"tags_count":0,"template":false,"template_full_name":null,"purl":"pkg:github/ADVRHumanoids/casannis_walking","repository_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/ADVRHumanoids%2Fcasannis_walking","tags_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/ADVRHumanoids%2Fcasannis_walking/tags","releases_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/ADVRHumanoids%2Fcasannis_walking/releases","manifests_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/ADVRHumanoids%2Fcasannis_walking/manifests","owner_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners/ADVRHumanoids","download_url":"https://codeload.github.com/ADVRHumanoids/casannis_walking/tar.gz/refs/heads/tourbot22","sbom_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/ADVRHumanoids%2Fcasannis_walking/sbom","scorecard":null,"host":{"name":"GitHub","url":"https://github.com","kind":"github","repositories_count":278734412,"owners_count":26036404,"icon_url":"https://github.com/github.png","version":null,"created_at":"2022-05-30T11:31:42.601Z","updated_at":"2022-07-04T15:15:14.044Z","status":"online","status_checked_at":"2025-10-07T02:00:06.786Z","response_time":59,"last_error":null,"robots_txt_status":"success","robots_txt_updated_at":"2025-07-24T06:49:26.215Z","robots_txt_url":"https://github.com/robots.txt","online":true,"can_crawl_api":true,"host_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub","repositories_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories","repository_names_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repository_names","owners_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners"}},"keywords":[],"created_at":"2024-11-13T02:15:41.476Z","updated_at":"2025-10-07T06:54:13.857Z","avatar_url":"https://github.com/ADVRHumanoids.png","language":"Python","funding_links":[],"categories":[],"sub_categories":[],"readme":"# casannis_walking\nTrajectory Optimization based on CasADi, implemented for IIT's Centauro robot.\n\n\u003c!--img src=\"https://user-images.githubusercontent.com/75118133/159123067-991317f2-fb3e-4f27-a904-88bc969467bf.gif\" width=\"750\"--\u003e\n\u003c!--img src=\"https://user-images.githubusercontent.com/75118133/159121224-dac623b1-5c6d-4d6d-a026-5046bfc84920.gif\" width=\"750\"--\u003e\n\n\u003cp float=\"left\"\u003e\n  \u003cimg src=\"https://user-images.githubusercontent.com/75118133/159123067-991317f2-fb3e-4f27-a904-88bc969467bf.gif\" width=\"400\" /\u003e\n  \u003cimg width=\"10\" /\u003e\n  \u003cimg src=\"https://user-images.githubusercontent.com/75118133/159121224-dac623b1-5c6d-4d6d-a026-5046bfc84920.gif\" width=\"400\" /\u003e \n\u003c/p\u003e\n \n:heavy_check_mark: Offline/online trajectory optimization for quadruped robots and quadruped manipulators carrying heavy payload.  \n:heavy_check_mark: Implemented using [CasADi] and its interface to [Ipopt] solver.  \n:heavy_check_mark: Implemented in Python, based on ROS.  \n\n\u003cbr\u003e\n\n## Dependencies\nThe repo has been tested on Ubuntu 18.04 and 20.04, using the XbotCore 2 and Cartesian Interface developed within the HHCM lab of IIT.\nTo use the repo you will need:\n* [centauro_contact_detection]\n* [iit-centauro-ros-pkg]\n* [xbot2_examples]\n* [centauro_cartesio]\n* [cartesio_collision_support] (optional)\n* [yiannis_centauro_pytools] (optional)\n* [hhcm_perception] (optional)\n\n## Install \u0026 Build\ncasannis_walking is a catkin package. To install it you need to `git clone` into your workspace:\n\n`git clone https://github.com/ADVRHumanoids/casannis_walking.git`\n\nBuild with `catkin_make` / `catkin build`\n\n  \n## Run\nThe repo is **not maintained** to enable off-the-self deploying, but rather consists a record of the work done for the corresponding publication mentioned below. People interested are encouraged to contact the author.\n\n  For offline trajectory optimization try\n  ```bash\n  mon launch casannis_walking cartesio.launch  \n  mon launch casannis_walking gait.launch\n  ```\n  Or\n  ```bash\n  mon launch casannis_walking cartesio_with_arm_ee.launch  \n  mon launch casannis_walking gait_payload.launch\n  ```\n  For online trajectory optimization (under development) try\n  ```bash\n  mon launch casannis_walking cartesio.launch  \n  rosrun casannis_walking online_simple_gait_replay_node.py\n  mon launch casannis_walking simple_gait_online_planner.launch\n  ```\n\n## Publications\nThe repo is related with the following publication:\n\n*Dadiotis I., Laurenzi A., Tsagarakis N., “Trajectory Optimization for Quadruped Mobile Manipulators that Carry Heavy\nPayload”, 2022 IEEE-RAS International Conference on Humanoid Robots (Humanoids 2022), Ginowan, Okinawa, Japan*\n\nAvailable: https://ieeexplore.ieee.org/document/10000252\n\nIf you want to refer to this work please cite with:\n```\n@inproceedings{dadiotis2022trajectory,\n  title={Trajectory Optimization for Quadruped Mobile Manipulators that Carry Heavy Payload},\n  author={Dadiotis, Ioannis and Laurenzi, Arturo and Tsagarakis, Nikos},\n  booktitle={2022 IEEE-RAS 21st International Conference on Humanoid Robots (Humanoids)},\n  pages={291--298},\n  year={2022},\n  organization={IEEE}\n}\n```\n\n## Author \nIoannis Dadiotis, ioannis.dadiotis@iit.it\n\n[Ipopt]: https://github.com/coin-or/Ipopt\n[CasADi]: https://web.casadi.org/\n[centauro_contact_detection]: https://github.com/ADVRHumanoids/centauro_contact_detection\n[iit-centauro-ros-pkg]: https://github.com/ADVRHumanoids/iit-centauro-ros-pkg\n[xbot2_examples]: https://github.com/ADVRHumanoids/xbot2_examples\n[centauro_cartesio]: https://github.com/ADVRHumanoids/centauro_cartesio\n[cartesio_collision_support]: https://github.com/ADVRHumanoids/cartesio_collision_support\n[hhcm_perception]: https://github.com/ADVRHumanoids/de_luca_perception_navigation\n[yiannis_centauro_pytools]: https://github.com/ADVRHumanoids/yiannis_centauro_pytools\n","project_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fadvrhumanoids%2Fcasannis_walking","html_url":"https://awesome.ecosyste.ms/projects/github.com%2Fadvrhumanoids%2Fcasannis_walking","lists_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fadvrhumanoids%2Fcasannis_walking/lists"}