All files about IFV
control_demo.slx
is the simulink-gazebo co-simulation file, which include inverse dynamic controller and the communication block.
Before running this model, runcontrol_demo_prepare.m
to prepare trajectory and other parameters.
Decen_control.slx
includes a different version using decentralized control.
Before running this model, runDecen_control_prepare.m
to prepare trajectory and other parameters.
Firstly, run 3order/generate.m
to get the operational trajectory.
Then, run 3order/IFV_PCconfig.m
to get the desired joint space position, velocity and acceleration trajectory.
IFVsim.world
is the world file.
model.condig
and model.sdf
is the sdf file, which describe the model of the robot. You should save them at /home/.gazebo/model folder as the same format as other model.
Files in RST_demo
is used for CPG design, which have no relation to the 263C project.