Walking Pattern Generator Example

[NoePity2]

Hello, Stephane. What does Pink need for an example of a walking pattern generator like the one in Pymanoid?

Greetings

[stephane-caron]

A nice contributor spending the time to adapt the previous example 🙂

The main parts are out there already:

• The differential IK with foot-frame and CoM tasks in Pink, see for instance humanoid_g1_com.py
• The linear MPC in the lipm_walking_controller.py example of qpmpc to generate the CoM trajectory

I'd be happy to help review and merge a PR for this.

[NoePity2]

Thank you for your reply!

We have a visual servoing implementation of my PhD that gives us the CoM Trajectory and the footsteps in libvwpg. This library is written in C++, but we have Python bindings. Previously, we used Pymanoid with this library and published a paper.

I would happily merge our visual walking pattern generator with the differential IK with foot-frame and CoM tasks in Pink to create the walking example and continue researching humanoid robots.