Simulation and Controller code for Solo Quadruped
This repository offers an environment to simulate different controllers on the Quadruped robot Solo.
You can implement your controller on the controller.py file and call your control function in the main program main.py by replacing the c(...) function in the loop.
Install Pinocchio following the procedure described here
Install Gepetto Viewer following the procedure described here
Then, install PyBullet using pip 3:
pip3 install --user pybullet
Launch gepetto-gui, then python3 -m solo_pybullet
The jump controller is currently based on cubic splines. The trajectory is parametrized by the time of the three phases of the jump: crouching, jumping and reaching reception position.
Optimal trajectory and gains wrt the jump we want