Manolo Garabini's Team Repos Guide

General Guides

• mulinex_guide: General guides to setup and use the family of Mulinex robots.

Robot Descriptions

• mulinex_description: URDF description of Mulinex robots (Otto, OmniQuad, OmniGoat, OmniCar).

Simulation

• mulinex_gazebo: Gazebo simulation of Mulinex robot(s?).

Hardware & Low-Level ROS 2 Controller

• Docker NUC Mulinex: Docker configuration for the NUC of the Mulinex project.
• Mulinex SBC Workspace: ROS 2 workspace for the Mulinex SBC (Raspberry) with the hardware interface and low-level controllers.
• Pi3Hat Controllers: TODO. --- (May be removed in the future as Mulinex SBC Workspace has it (not as a submodule).)
• Pi3Hat Robotic Systems: Low level Pi3Hat interfaces for the mulinex project. --- (May be removed in the future as Mulinex SBC Workspace has it (not as a submodule).)

Various Controllers

• Omni Mulinex Joystick: Joystick controller for teleoperating Mulinex robots. --- (May be removed in the future as Mulinex SBC Workspace has it (not as a submodule).)

High-Level Control

Model-Based Control - click to expand

Model-Based Control

Davide De Benedittis

• Control Arm Temperature: temperature aware control of robotic arms
• Control Quadrupeds Soft Contacts: quadruped control that considers soft contacts with the environment.

Learning-Based Control - click to expand

Learning-Based Control

Simone Tolomei et al.

• Isaac Centro Piaggio Suite: Isaac Lab extension for RL. WIP. Will include pick and throw, perceptive manipulation, locomotion (Otto, OmniQuad, TrackQuad), and more.

Utilities

Various utilities - click to expand

• IKEA Interface: tool that automatically searches, downloads, and processes 3D assets from the IKEA dataset into URDF format.