bitbot-ovinf

This is an OpenVINO based humanoid robot RL simulation and deployment framework. All implementations are hidden in ovinf. Mujoco simulation and EtherCAT communication are based on bitbot.

Usage:

1. Clone the repository.
2. Install OpenVINO.
3. Modify CMakeLists.txt, <robot_name>.xml and <robot_name>.yaml config file in config/<robot_name> folder.
4. Build the project.

# Mujoco simulation
cmake ..
# Deploy
cmake .. -DDEPLOY=ON

Note:

HHFC has an IMU whose x-axis is backward and z-axis is downward. bitbot-cifx source code in HHFC is modified to make frontend display the correct orientation of the robot. bitbot-cifx in dependences folder is the original one.

TODO: Motor bias. Damping controller.