We are releasing a Docker image of the walking and stair climbing controller that we use on the HRP-4 and HRP-2Kai humanoid robots. We applied this controller to make HRP-4 climb stairs in an industrial demonstrator at the Airbus Saint-Nazaire factory.
The Docker image includes a fully functional build and simulation environment where you can try the controller on the open-source JVRC-1 robot model. Feel free to modify it and try new things!
This image has been tested on Ubuntu LTS releases from 14.04 to 18.04. Depending on your release you might need to give Docker permissions to connect to X11:
Pull and run the Docker image by running:
You should end up with the following windows:
See the Graphical user interface page of the wiki for further instructions on how to use this GUI.