bad initial robot pose on gazebo.
elpimous opened this issue · 6 comments
Hello, ylo2 robot xacro and urdf correctly done.
when running : roslaunch legged_unitree_description empty_world.launch
Robot doesn't start sitted on ground.
All dynamics inertial values are correctly feeded into the const.xacro
tested some walks : legs move cycle work correctly.
Ps: for now, my robot keeps A1 name and refs
@qiayuanliao
where, in your code, i set initial pose ? here ? : https://github.com/qiayuanliao/legged_control/blob/a09c899a2cf1891b375f3bc117931ace8edae3c9/legged_controllers/config/a1/reference.info#L4-L19
@qiayuanliao where, in your code, i set initial pose ? here ? :
No, the code you mentioned is for the controller and solver.
The gazebo determines the initial configuration. To see what happened, press ctrl-r in the gazebo. and the robot will fall from the height set in empty_world.launch (-z 0.5). I think you can change the height to get an acceptable initial height.
Thanks @qiayuanliao . I can correct initial body pose.
But what about legs ?? i should import a param file for legs position, correct ?
Always looking for stand-down origin legs position.
Is it here ? https://github.com/qiayuanliao/legged_control/blob/eff523ddec6b392414073d7ff5f1534cd411c533/legged_controllers/config/a1/task.info#L162-L175
It's into initialState{}
Hi all.
Where can I set initial joints position ?
under xacro ? elsewhere ?
It was a bad urdf !!!
- needed to have correct inertials,
- same for collisions parts,
- and joints limits (a1 helped)