humanoid_controller/humanoid_controller.xml at main · ioai-tech/humanoid_controller · GitHub

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<library path="humanoid_controller">
    <class name="humanoid_controller/MotionTrackingController"
           type="legged::MotionTrackingController"
           base_class_type="controller_interface::ControllerInterface">
        <description>
            Template controller for legged robot.
        </description>
    </class>
    <class name="humanoid_controller/HolosomaLocomotionController"
           type="legged::HolosomaLocomotionController"
           base_class_type="controller_interface::ControllerInterface">
        <description>
            Holosoma locomotion controller.
        </description>
    </class>
    <class name="humanoid_controller/UnitreeLocomotionController"
           type="legged::UnitreeLocomotionController"
           base_class_type="controller_interface::ControllerInterface">
        <description>
            Unitree RL gym locomotion controller with LSTM support.
        </description>
    </class>
    <class name="humanoid_controller/AmpLocomotionController"
           type="legged::AmpLocomotionController"
           base_class_type="controller_interface::ControllerInterface">
        <description>
            AMP (Adversarial Motion Priors) locomotion controller with observation history.
        </description>
    </class>
</library>