How to specify number of steps per leg
mwchadwick1 opened this issue · 1 comments
mwchadwick1 commented
Hello,
I am generating motion for some quadrupeds and when I launch towr_ros the motion always consists of 4 steps and so is infeasible for long distance motions. I believe the step count comes from the size of ee_phase_durations_ but I`m not sure how/where I should be specifying this size.
awinkler commented
Yes. For convenience, the gait generator class fills these phase durations and allows looping though gaits using the "g" key. To add additional steps, e.g. robot=Hyq, Gait=0 in interface, add another Walk2 Stride here:
towr/towr/src/quadruped_gait_generator.cc
Line 80 in d30c4a0