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Welcome to the Humanoid-2024 wiki!

Navigate to any of the pages on the right to learn about specific aspects of the codebase.

Software Team

• Anthony Tan
• Antoine Dangeard
• Elie Abdo
• Felipe Potenza

Electrical Team

• Vincent Boucher
• Martin Nguyen

Mechanical Team

• Wadih Al Helou
• Alistair Xhayet

Software Architecture

Sim

Hosted on GitLab\

Setup commands

rosrun rosserial_python serial_node.py /dev/ttyACM0


rostopic pub -1 /servosCommand humanoid_msgs/ServoCommand "{
  left_knee: 180.0,
  left_hip_roll: 90.0,
  left_hip_pitch: 180.0,
  
  left_elbow: 180.0,
  left_shoulder_roll: 90.0,
  left_shoulder_pitch: 180.0,
  
  right_knee: 180.0,
  right_hip_roll: 90.0,
  right_hip_pitch: 180.0,
  
  right_elbow: 180.0,
  right_shoulder_roll: 90.0,
  right_shoulder_pitch: 180.0
}"

rostopic pub -1 /servosCommand humanoid_msgs/ServoCommand "{
  left_knee: 180.0,
  left_hip_roll: 180.0,
  left_hip_pitch: 180.0,
  
  left_elbow: 180.0,
  left_shoulder_roll: 180.0,
  left_shoulder_pitch: 180.0,
  
  right_knee: 180.0,
  right_hip_roll: 180.0,
  right_hip_pitch: 180.0,
  
  right_elbow: 180.0,
  right_shoulder_roll: 180.0,
  right_shoulder_pitch: 180.0
}"

sudo apt install screen minicom picocom cutecom gtkterm putty microcom socat

screen /dev/ttyACM1 115200
minicom -b 115200 -D /dev/ttyACM1
picocom -b 115200 /dev/ttyACM1
putty -serial /dev/ttyACM1 -sercfg 115200,8,n,1,N
microcom -p /dev/ttyACM1 -s 115200

stty -F /dev/ttyACM1 115200
cat /dev/ttyACM1

socat -d -d /dev/ttyACM1,b115200,raw,echo=0 -

References

• Humanoid-2024 ROS Environment - https://github.com/mcgill-robotics/Humanoid-2024
• Humanoid-Unity-Sim - https://gitlab.cs.mcgill.ca/adange8/Humanoid-Unity-Sim
• Humanoid-MuJoCo - https://github.com/mcgill-robotics/Humanoid-MuJoCo
• Humanoid Firmware - https://github.com/mcgill-robotics/humanoid-firmware
• MuJoCo MPC - https://github.com/google-deepmind/mujoco_mpc