足部关节自碰撞设置报错

[zzzzyyyjjj]

大佬您好，我在替换模型的过程中发现机器人行走时双足会发生自碰撞的现象，参考OCS2库的其他example后，我在task.info文件中对Self Collision pairs进行修改，修改为： ; Self Collision pairs collisionLinkPairs { [0] "left_leg_l6, right_leg_l6" }

之后运行legged_robot_sqp.launch文件报错。

##################################################### ##################################################### ################# MPC is reset. ################### ##################################################### ##################################################### terminate called after throwing an instance of 'std::runtime_error' what(): [SqpSolver] Failed to solve QP [humanoid_sqp_mpc-3] process has died [pid 9654, exit code -6, cmd /home/zyj/catkin_ws_wbc/devel/lib/humanoid_dummy/humanoid_sqp_mpc __name:=humanoid_sqp_mpc __log:=/home/zyj/.ros/log/b0159f8a-3f53-11ef-8186-ef621eb71d3f/humanoid_sqp_mpc-3.log]. log file: /home/zyj/.ros/log/b0159f8a-3f53-11ef-8186-ef621eb71d3f/humanoid_sqp_mpc-3*.log ^C[rviz-2] killing on exit QFileSystemWatcher::removePaths: list is empty QFileSystemWatcher::removePaths: list is empty [rosout-1] killing on exit [master] killing on exit shutting down processing monitor... ... shutting down processing monitor complete done

SelfCollision Settings:

=============================================================================

'mu'..................................................................0.01

'delta'..............................................................0.001

'minimumDistance'.....................................................0.02

'selfCollision.collisionObjectPairs': { }

'selfCollision.collisionLinkPairs': {[left_leg_l6, right_leg_l6]}

=============================================================================

SelfCollision: Testing for 1 collision pairs [Debug3-5.29-zyj] Optimal control problem set up completed. Loading initial state...24 Initial state loaded. [ INFO] [1720681978.315599767]: MRT node is setting up ... [ INFO] [1720681978.320035772]: Publishing MRT messages on a separate thread. [ INFO] [1720681978.320084310]: MRT node is ready. centroidalModelInfo_.numThreeDofContacts: 4 [ WARN] [1720681978.327068114]: MPC loop is not realtime! For realtime setting, set mpcDesiredFrequency to any negative number. [ INFO] [1720681978.327114659]: Waiting for the initial policy ... [ INFO] [1720681978.333980352]: MPC node has been reset.

想知道如何正确设定，避免机器人双足在行走过程中的自碰撞现象呢，谢谢大佬！

[rcone11]

你好，我也在做替换模型，方便加个联系方式沟通吗

[zzzzyyyjjj]

可以的 联系方式发我邮箱吧 [email protected]

[Wan020607]

建议将xml以及urdf中的collision更改为简化后的模型，并且保证collision的名称和你设置的碰撞对的名称符合

[zuchuanid]

我替换模型之后，rviz中显示的足底接触力平面是竖直穿过脚踝的，但是我设置的toe跟heel的位置是在足部前后两端的，请问您知道这个是什么原因吗？