https://github.com/graiola/wolf_ylo2_interface
WoLF: Whole-body Locomotion Framework for quadruped robots
https://github.com/graiola/wolf_ylo2_interface
Last synced: 12 months ago
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WoLF: Whole-body Locomotion Framework for quadruped robots
- Host: GitHub
- URL: https://github.com/graiola/wolf_ylo2_interface
- Owner: graiola
- Created: 2022-02-11T16:19:30.000Z (over 4 years ago)
- Default Branch: master
- Last Pushed: 2024-08-05T10:01:10.000Z (almost 2 years ago)
- Last Synced: 2025-06-24T22:14:50.322Z (about 1 year ago)
- Language: C++
- Homepage:
- Size: 15.4 MB
- Stars: 3
- Watchers: 2
- Forks: 0
- Open Issues: 1
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Metadata Files:
- Readme: README.md
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README
# WoLF - Ylo2 hardware interface
Hardware Abstraction Layer for ylo2 robot to be used with WoLF: Whole Whole-body Locomotion Framework
available [here](https://github.com/graiola/wolf-setup).
Ylo2 robot official repository is available [here](https://github.com/elpimous/ylo-2).
status :
--------
- robot motors controller lib => moteus_driver (using a Peak M2 CanFD 4 ports board)..OK
- robot zeroing.......................................................................OK
- read values from Moteus are in turn. Needed to convert to radians..................OK
- joints can frames (send and receive) structure and format...........................OK
- power board can frames structure and format.........................................OK
- functions tested, working...........................................................OK
- robot joints order and direction....................................................OK
- imu directions and test.............................................................OK
- first standup test..................................................................TODO
Commands :
--------
- run the ylo2 wolf controller :
roslaunch wolf_ylo2_interface run.launch
- run the wolf controller (interacts with wolf_ylo2_interface) :
roslaunch wolf_controller wolf_controller_bringup.launch input_device:=keyboard robot_name:=ylo2 gazebo:=false
- run wolf simulation (without real robot) :
roslaunch wolf_controller wolf_controller_bringup.launch input_device:=keyboard robot_name:=ylo2
- same with full gui :
roslaunch wolf_controller wolf_controller_bringup.launch input_device:=keyboard robot_name:=ylo2 full_gui:=true
- ask moteus gui :
python3 -m moteus_gui.tview --devices=1-3 --can-iface pcan --can-chan PCAN_PCIBUS1
- motor calibration :
/home/ylo2/Documents/Mjbots_tools/python_code/working/Qdd100_calibration_tool.py