{"id":29096295,"url":"https://github.com/graiola/wolf_ylo2_interface","last_synced_at":"2025-06-28T12:09:23.122Z","repository":{"id":43453607,"uuid":"458257730","full_name":"graiola/wolf_ylo2_interface","owner":"graiola","description":"WoLF: Whole-body Locomotion Framework for quadruped robots ","archived":false,"fork":false,"pushed_at":"2024-08-05T10:01:10.000Z","size":16181,"stargazers_count":3,"open_issues_count":1,"forks_count":0,"subscribers_count":2,"default_branch":"master","last_synced_at":"2025-06-24T22:14:50.322Z","etag":null,"topics":[],"latest_commit_sha":null,"homepage":"","language":"C++","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/graiola.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}},"created_at":"2022-02-11T16:19:30.000Z","updated_at":"2024-11-20T07:03:08.000Z","dependencies_parsed_at":"2023-02-02T19:30:48.953Z","dependency_job_id":null,"html_url":"https://github.com/graiola/wolf_ylo2_interface","commit_stats":null,"previous_names":[],"tags_count":1,"template":false,"template_full_name":null,"purl":"pkg:github/graiola/wolf_ylo2_interface","repository_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/graiola%2Fwolf_ylo2_interface","tags_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/graiola%2Fwolf_ylo2_interface/tags","releases_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/graiola%2Fwolf_ylo2_interface/releases","manifests_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/graiola%2Fwolf_ylo2_interface/manifests","owner_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners/graiola","download_url":"https://codeload.github.com/graiola/wolf_ylo2_interface/tar.gz/refs/heads/master","sbom_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/graiola%2Fwolf_ylo2_interface/sbom","host":{"name":"GitHub","url":"https://github.com","kind":"github","repositories_count":262428156,"owners_count":23309424,"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","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":"2025-06-28T12:09:21.069Z","updated_at":"2025-06-28T12:09:23.110Z","avatar_url":"https://github.com/graiola.png","language":"C++","funding_links":[],"categories":[],"sub_categories":[],"readme":"# WoLF - Ylo2 hardware interface\n\nHardware Abstraction Layer for ylo2 robot to be used with WoLF: Whole Whole-body Locomotion Framework\navailable [here](https://github.com/graiola/wolf-setup).\nYlo2 robot official repository is available [here](https://github.com/elpimous/ylo-2).\n\nstatus :\n--------\n- robot motors controller lib =\u003e moteus_driver (using a Peak M2 CanFD 4 ports board)..OK\n- robot zeroing.......................................................................OK\n- read values from Moteus are in turn.  Needed to convert to radians..................OK\n- joints can frames (send and receive) structure and format...........................OK\n- power board can frames structure and format.........................................OK\n- functions tested, working...........................................................OK\n- robot joints order and direction....................................................OK\n- imu directions and test.............................................................OK\n- first standup test..................................................................TODO\n\n\nCommands :\n--------\n- run the ylo2 wolf controller : \nroslaunch wolf_ylo2_interface run.launch\n\n- run the wolf controller (interacts with wolf_ylo2_interface) : \nroslaunch wolf_controller wolf_controller_bringup.launch input_device:=keyboard robot_name:=ylo2 gazebo:=false\n\n- run wolf simulation (without real robot) : \nroslaunch wolf_controller wolf_controller_bringup.launch input_device:=keyboard robot_name:=ylo2\n\n- same with full gui : \nroslaunch wolf_controller wolf_controller_bringup.launch input_device:=keyboard robot_name:=ylo2 full_gui:=true\n\n- ask moteus gui :\npython3 -m moteus_gui.tview --devices=1-3 --can-iface pcan --can-chan PCAN_PCIBUS1\n\n- motor calibration :\n/home/ylo2/Documents/Mjbots_tools/python_code/working/Qdd100_calibration_tool.py\n","project_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fgraiola%2Fwolf_ylo2_interface","html_url":"https://awesome.ecosyste.ms/projects/github.com%2Fgraiola%2Fwolf_ylo2_interface","lists_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fgraiola%2Fwolf_ylo2_interface/lists"}