How to import a new robot

[NieWeijian]

Hello! I am very glad you can check out this issue.
When I learning your TOWR, I got some trouble about the robot models. I have built a robot model with URDF and I want to use TOWR to solve some gait optimization problem. But when I import the model into TOWR by modifying the URDF files of TOWR, it's quite abnormal bcause its feet are always suspend in air no matter how I change the height of the base. Besides, I found that the end effectors and the cubes are still touch the ground although the feet of the model are in the air. So I wonder if it's because I didn't change the inverse kinematics rules, or because I didn't modify some parameters when I imported the model?
Here is the picture of my robots in the RVIZ.

Here is the picture of the TOWR after I imported the model.

And the files I modified are these:

Could you please give me some suggestions or guidance on how to fix this problem?

[awinkler]

Hi! Visualizing different robots is related to xpp. There is a short description of how to visualize your own robots here: http://wiki.ros.org/xpp

If your interested in modifying the actual optimization, like adding different bounding boxes for the Cartesian Range of Motion, or changing the equation of motion,check this:
http://docs.ros.org/api/towr/html/group__Robots.html

Hope this help👍

[alphabeta97]

Hello! I am very glad you can check out this issue.
When I learning your TOWR, I got some trouble about the robot models. I have built a robot model with URDF and I want to use TOWR to solve some gait optimization problem. But when I import the model into TOWR by modifying the URDF files of TOWR, it's quite abnormal bcause its feet are always suspend in air no matter how I change the height of the base. Besides, I found that the end effectors and the cubes are still touch the ground although the feet of the model are in the air. So I wonder if it's because I didn't change the inverse kinematics rules, or because I didn't modify some parameters when I imported the model?
Here is the picture of my robots in the RVIZ.

Here is the picture of the TOWR after I imported the model.

And the files I modified are these:

Could you please give me some suggestions or guidance on how to fix this problem?

Can you pls. tell me how did u import your model into towr because I'm not able to do so?
Thank You