Modified from https://github.com/DRCL-USC/Hector_Simulation

This branch is under development of the ROS+Isaac simulation for the Hector humanoid robot.
For humanoid ROS model with arms use the ROS_Humanoid_Simulation branch.

• Boost (version 1.5.4 or higher)
• CMake (version 2.8.3 or higher)
• LCM (version 1.4.0 or higher)
• ROS Neotic
• Gazebo 11
• Eigen3 (>3.3)
• unitree_legged_sdk
• qpOASES
• ROS_Packages

Install dependencies via apt

sudo apt-get install -y liblcm-dev

• x86 platform with nvidia GPU
• Ubuntu20.04 with ROS1 noetic installed

cd ~/catkin_ws
catkin build

1. Run Isaac

~/local/.share/ov/pkg/isaac_2023.1.1/python.sh hector_ros1_env.py

2. Run hector_controller

roslaunch hector_control hector_control.launch

• Click the start button at the bottom of the simulator, the robot should stand up/move away
• In some occasions the controller does not kick in after starting, please terminate the controller with ctrl + \. Then go back to the simulator, pause, and reset (ctrl + R). Rerun controller.

• Inside the terminal window, use W or S to control x direction speed
• Use A or D to control robot turning
• Use J or L to control y direction speed

Thank you for choosing our software for your research and development, we highly appreciate your citing our work:

1. HECTOR Project: "Dynamic Loco-manipulation on HECTOR: Humanoid for Enhanced ConTrol and Open-source Research" https://arxiv.org/pdf/2312.11868.pdf

@article{li2023dynamic,
  title={Dynamic Loco-manipulation on HECTOR: Humanoid for Enhanced ConTrol and Open-source Research},
  author={Li, Junheng and Ma, Junchao and Kolt, Omar and Shah, Manas and Nguyen, Quan},
  journal={arXiv preprint arXiv:2312.11868},
  year={2023}
}

2. Force-and-moment-based Locomotion MPC: "Force-and-moment-based model predictive control for achieving highly dynamic locomotion on bipedal robots" https://arxiv.org/abs/2104.00065

  @inproceedings{li2021force,
  title={Force-and-moment-based model predictive control for achieving highly dynamic locomotion on bipedal robots},
  author={Li, Junheng and Nguyen, Quan},
  booktitle={2021 60th IEEE Conference on Decision and Control (CDC)},
  pages={1024--1030},
  year={2021},
  organization={IEEE}
}

Junheng Li -- junhengl@usc.edu Omar Kolt -- kolt@laser-robotics.com

Please read the License.md for details.

The authors would like to express special thanks to MIT Biomimetic Lab for providing the cheetah MPC framework and Unitree Robotics for providing the Unitree gazebo simulation framework.