{"id":28165721,"url":"https://github.com/advrhumanoids/horizon_walk_docker","last_synced_at":"2026-01-24T18:31:44.581Z","repository":{"id":278176642,"uuid":"916634808","full_name":"ADVRHumanoids/horizon_walk_docker","owner":"ADVRHumanoids","description":null,"archived":false,"fork":false,"pushed_at":"2025-02-19T13:47:13.000Z","size":15,"stargazers_count":1,"open_issues_count":0,"forks_count":0,"subscribers_count":3,"default_branch":"master","last_synced_at":"2025-09-09T00:24:56.349Z","etag":null,"topics":[],"latest_commit_sha":null,"homepage":null,"language":"Dockerfile","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}},"created_at":"2025-01-14T13:38:56.000Z","updated_at":"2025-05-13T22:03:04.000Z","dependencies_parsed_at":"2025-02-18T12:28:18.234Z","dependency_job_id":"c36d4ddd-1975-4c9b-a85c-cfec1f37a0af","html_url":"https://github.com/ADVRHumanoids/horizon_walk_docker","commit_stats":null,"previous_names":["advrhumanoids/horizon_walk_docker"],"tags_count":0,"template":false,"template_full_name":null,"purl":"pkg:github/ADVRHumanoids/horizon_walk_docker","repository_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/ADVRHumanoids%2Fhorizon_walk_docker","tags_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/ADVRHumanoids%2Fhorizon_walk_docker/tags","releases_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/ADVRHumanoids%2Fhorizon_walk_docker/releases","manifests_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/ADVRHumanoids%2Fhorizon_walk_docker/manifests","owner_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners/ADVRHumanoids","download_url":"https://codeload.github.com/ADVRHumanoids/horizon_walk_docker/tar.gz/refs/heads/master","sbom_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/ADVRHumanoids%2Fhorizon_walk_docker/sbom","scorecard":null,"host":{"name":"GitHub","url":"https://github.com","kind":"github","repositories_count":286080680,"owners_count":28734307,"icon_url":"https://github.com/github.png","version":null,"created_at":"2022-05-30T11:31:42.601Z","updated_at":"2026-01-24T17:51:25.893Z","status":"ssl_error","status_checked_at":"2026-01-24T17:50:48.377Z","response_time":89,"last_error":"SSL_read: unexpected eof while reading","robots_txt_status":"success","robots_txt_updated_at":"2025-07-24T06:49:26.215Z","robots_txt_url":"https://github.com/robots.txt","online":false,"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":"2025-05-15T12:12:05.393Z","updated_at":"2026-01-24T18:31:44.567Z","avatar_url":"https://github.com/ADVRHumanoids.png","language":"Dockerfile","funding_links":[],"categories":[],"sub_categories":[],"readme":"# horizon_walk_docker\n\n## Run simulator\n1) open mujoco and load talos:\n   ```\n   roslaunch talos_horizon talos_simulator.launch\n   ```\n3) load xbot config file:\n   ```\n   roscd talos_cartesio_config/mujoco/xbot2\n   set_xbot2_config talos.yaml\n   ```\n4) start xbot2:\n   ```\n   xbot2-core\n   ```\n5) move the robot in the homig configuration and set the sim time as the default one:\n   ```\n   rosservice call /xbotcore/homing/switch \"data: true\"\n   rosparam set /use_sim_time true\n6) start the controller:\n   ```\n   roslaunch talos_horizon talos_controller xbot:=true\n   ```\n   *NB:* if you don't have a joystick plugged you can run the controller with the argument `joy:=false` and move the robot around using the ros services/topics:\n   ```\n   # set velocity reference\n   rostopic pub /horizon/base_velocity/reference geometry_msgs/Twist \"linear:\n      x: 0.0\n      y: 0.0\n      z: 0.0\n    angular:\n      x: 0.0\n      y: 0.0\n      z: 0.0\"\n\n   # start/stop walking\n   rosservice call /horizon/walk/switch \"data: true/false\"\n   ```\n\n## Run on the robot\nAfter initialized the robot and set up the ros communication with the ros master running on the robot, simply run the controller:\n```\nroslaunch talos_horizon talos_controller.launch talos:=true\n```\nFollow steps above if you do not have a joystick plugged\n","project_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fadvrhumanoids%2Fhorizon_walk_docker","html_url":"https://awesome.ecosyste.ms/projects/github.com%2Fadvrhumanoids%2Fhorizon_walk_docker","lists_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fadvrhumanoids%2Fhorizon_walk_docker/lists"}