Any advice on using this code for my own robot?
Opened this issue · 3 comments
I appreciate the effort you've put into this. Your open-source code has been tremendously helpful to me. However, I have a question and hope you can provide an answer. If I want to replace it with my own robot, what content do I need to modify, and what aspects should I pay attention to?
Apart from this, I have observed that in simulation, if the robot is not given commands for an extended period, it might end up in a standing position and then fall over. Can you please explain the reason behind this?
Thank you for your interest.
If you intend to use this code on your own robot, you need to pay attention to the positions of the support points, the parameters in the URDF and task.info, and ensure the correctness of the program.
The program is designed so that if there are no commands for a long time, it will enter a standing mode by itself. If you keep pressing the dead button on the controller, the robot should not fall over. On the other hand, you can switch gait modes using the buttons on the controller. Another mode is continuous stepping.
Thank you very much for your guidance! I noticed that you added two fixed extremely small points under the URDF robot's feet as support points. Why are there two very small points instead of a thin line from the heel to the toe?If the bottom of my robot's feet is an uneven surface, should I add a flat plane or two extremely small points, or four extremely small points?
I don't quite understand how setting contact points would affect the robot. Could you provide me with some relevant information or guidance?
The points we add are just equivalent support points used for convenience in calculations; they may not necessarily be actual support points, and the size of the points is not important (as long as you do not add additional collision bodies).
Depending on your situation, four points might be a good choice, but it mainly depends on the freedom of movement of your foot.