demirciomer

Hi, can you send the reference.info file of your robot?

hello @elpimous did you find any solution? same issue for us.

@elpimous we have a custom robot like you, but its size is bigger. We increased the torque limit in urdf and operated the robot in standing mode. Tries to increase...

@elpimous We dont have foot sensors. We are just looking for the force in Z and above treshold we set foot contact as true. We are looking MPC observation topic...

We tried another thing. We stand up the robot with position control and implemented a controller switch which switches the controller from position to legged control. it tries to move...

just be sure about the torque limits in the urdf file for your case. increase them to 100nm etc.

@elpimous also check the motor controllers default parameters if there is an integral coefficient, make it zero, that is also problem. We are still dealing with it :+1:

@elpimous yeah same parameters, we also tried to smooth the control signals with low pass filters, it keeps the position better but this is not a good practice. probably state...

@elpimous torque values should be signed?

@elpimous first you can try to send just ff_torque values to joints withouth any other parameters pos vel kp kd, make them zero and just send ff torques. This would...