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NMPC Swing Up Controller based on Crocoddyl #86

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NMPC Swing Up Controller based on Crocoddyl #86

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66d4fa0
add urdf generated with cad and onshape to robot
pierfabre Oct 19, 2024
56ec96e
organize stl by v1/v2/clamp_assembly
pierfabre Oct 29, 2024
ff9acc3
adapt names in urdf
pierfabre Oct 29, 2024
ecacfde
make Viewer3D and new simulation available
pierfabre Jan 25, 2025
5134a7a
add NMPC swing up controller using crocoddyl
pierfabre Jan 25, 2025
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adapt names in urdf
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@pierfabre
pierfabre committed Jan 25, 2025
commit ff9acc317d4ea09606ca0579468474a910a3b0b3
4 changes: 2 additions & 2 deletions robot/hardware/v2/robot.urdf
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Original file line number Diff line number Diff line change
Expand Up @@ -4,7 +4,7 @@
<visual>
<origin xyz="0.00058914269298856124756 -0.00066759196360875738829 0.0020813262730572934522" rpy="1.5707963267949303088 2.6117996654306545712e-14 0.99208669193682585963" />
<geometry>
<mesh filename="package:///motor_mount.stl"/>
<mesh filename="package:///37d_motor_mount.stl"/>
</geometry>
<material name="motor_mount_material">
<color rgba="0.49803921568627451677 0.49803921568627451677 0.49803921568627451677 1.0"/>
Expand All @@ -21,7 +21,7 @@
<visual>
<origin xyz="0 -4.336808689942017736e-19 -0.0060000000000000192069" rpy="1.570796326794896558 -3.3588218230113393277e-31 -5.6972761659914007382e-30" />
<geometry>
<mesh filename="package:///big_arm_v30.stl"/>
<mesh filename="package:///37d_arm.stl"/>
</geometry>
<material name="big_arm_v30_material">
<color rgba="0.98039215686274505668 0.71372549019607844922 0.0039215686274509803377 1.0"/>
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