/anymal_trotting

This repository contains the codes for building the memory of motion used in MEMMO project.

Primary LanguageJupyter Notebook

anymal_trotting

This repository contains the codes for building the memory of motion used in MEMMO project.

Dataset

The dataset used to train the memory of motion can be found in https://gepettoweb.laas.fr/memmo/

Dependencies

To use this repository, the following packages are needed:

pinocchio (https://github.com/stack-of-tasks/pinocchio)
crocoddyl (https://github.com/loco-3d/crocoddyl)
caracal (https://github.com/cmastalli/caracal)
SL1M (https://github.com/loco-3d/SL1M)
tensorflow (https://www.tensorflow.org/)

Notebooks

The following examples are provided:

For generating the contact sequence:

notebooks/SL1M_generate_trot.ipynb

For generating the whole body motion data:

notebooks/generate_data_grid_standard_noise.ipynb

For training the memory of motion:

notebooks/learn_data_trot_pybullet_direct.ipynb (For the direct model)
notebooks/learn_data_trot_pybullet_refined.ipynb (For the hierarchical model)