humanoid-control

(★ 415)

A humanoid bipedal walking control repo using NMPC and WBC, and simulation with mujoco. Contact: xuejl2001@mail.ustc.edu.cn

File Explorer

Download Latest Version (.zip)

- - joint_names_humanoid_legged.yaml
- - display.launch
  - gazebo.launch
- - arm_l1_link.STL
  - arm_l2_link.STL
  - arm_l3_link.STL
  - arm_l4_link.STL
  - arm_l5_link.STL
  - arm_l6_link.STL
  - arm_r1_link.STL
  - arm_r2_link.STL
  - arm_r3_link.STL
  - arm_r4_link.STL
  - arm_r5_link.STL
  - arm_r6_link.STL
  - base_link.STL
  - head_yaw_link.STL
  - leg_l1_link.STL
  - leg_l2_link.STL
  - leg_l3_link.STL
  - leg_l4_link.STL
  - leg_l5_link.STL
  - leg_l6_link.STL
  - leg_r1_link.STL
  - leg_r2_link.STL
  - leg_r3_link.STL
  - leg_r4_link.STL
  - leg_r5_link.STL
  - leg_r6_link.STL
  - waist_yaw_link.STL
- - humanoid_legged.urdf
  - humanoid_legged.xml
- - humanoid_legged_control.urdf
  - humanoid_legged_origin.urdf
- .gitignore
- CMakeLists.txt
- export.log
- package.xml
- CMakeLists.txt
- package.xml
- - controllers.yaml
- - load_cheat_controller.launch
  - load_joy_controller.launch
  - load_normal_controller.launch
- - CheatControllerNode.cpp
  - humanoidController.cpp
  - JoyControllerNode.cpp
  - NormalControllerNode.cpp
  - TargetTrajectoriesPublisher.cpp
- CMakeLists.txt
- humanoid_controllers_plugins.xml
- package.xml
- - legged_robot_sqp.launch
  - multiplot.launch
- - humanoid.rviz
- - HumanoidDdpMpcNode.cpp
  - HumanoidDummyNode.cpp
  - HumanoidGaitCommandNode.cpp
  - HumanoidIpmMpcNode.cpp
  - HumanoidPoseCommandNode.cpp
  - HumanoidSqpMpcNode.cpp
- CMakeLists.txt
- package.xml
- - FromTopicEstimate.cpp
  - LinearKalmanFilter.cpp
  - StateEstimateBase.cpp
- CMakeLists.txt
- package.xml
- - .gitignore
- - HumanoidInterface.cpp
  - HumanoidPreComputation.cpp
- - AnymalFactoryFunctions.cpp
- CMakeLists.txt
- package.xml
- - HierarchicalWbc.cpp
  - HoQp.cpp
  - WbcBase.cpp
  - WeightedWbc.cpp
- - HoQp_test.cpp
- CMakeLists.txt
- package.xml
- - draw_torque.py
  - humanoid_sim.py
  - joy.py
  - mujoco_base.py
  - teleop.py
- CMakeLists.txt
- package.xml
- CMakeLists.txt
- package.xml
- legged_robot.gif
.gitignore
LICENSE
README.md

# Installation Guide

1. Get the code

git clone https://github.com/pocketxjl/humanoid-control

Downloads the entire project code from GitHub to your computer.

cd humanoid-control

Moves into the project folder you just downloaded.

2. Official Install Script

Easy Recommended

Prerequisites

APT (Debian/Ubuntu 계열) Built into Debian/Ubuntu-based Linux distributions.
Python 3 Python is required to use pip.

sudo apt install liburdfdom-dev liboctomap-dev libassimp-dev

Installs directly from the APT package repository (Debian/Ubuntu-based).

pip3 install mujoco

Installs the package published on PyPI directly — no need to clone the source.

pip3 install pynput #for teleop.py

Installs the package published on PyPI directly — no need to clone the source.

pip3 install scipy

Installs the package published on PyPI directly — no need to clone the source.

✅ After installing, open a new terminal and run the program's version command (e.g. --version) to confirm it worked.

Pulled directly from this repo's README.

3. CMake

Medium

Prerequisites

Git Needed to download the project code from GitHub.
CMake The tool used to generate build configuration.
C/C++ 컴파일러 Windows needs Visual Studio (Community edition, free), macOS needs Xcode Command Line Tools, Linux needs the gcc/g++ package.

cd humanoid-legged-description

This project's files live in a subfolder, so move into it first.

mkdir build && cd build

Creates a folder to hold the build output and moves into it.

cmake ..

Analyzes the source code and generates build configuration files (must be run inside the build folder).

make

Compiles the code based on the generated build configuration to produce an executable.

✅ Check that an executable was created inside the build folder, then run it directly (e.g. ./build/app_name).