legged_control
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qiayuanliao
Nonlinear MPC and WBC framework for legged robot based on OCS2 and ros-controls
Hi @qiayuanliao , Thanks for sharing the code! When I use the code and go through it, I find some questions about the convention of some vectors. More specifically: 1....
We use the legged_control to run the go1 with the controller running on an jetson orin (arm64), but the motors are jittering back and forth. - The simulation works fine...
I have a problem when trying to modify a1 model to go1 model，[ERROR] [1664549659.767555470, 0.166000000]: **Skipped loading plugin with error: XML Document '/legged_hw_sim_plugins.xml' has no Root Element. This likely means...
Hello! Thanks a lot with this wonderful project. However, when I run with robot type A1, I find the gait of "pace" is very strange. The thigh joint seems to...
 In this code,when register IMUHandle， there are no pointer reference about imuData_.angularVel etc. Will this achieve data updating when Invoke the function：hardwareintreface_read，after all，the function "updateStateEstimation" need to get data...
Hello. @qiayuanliao unitree_description empty_world.launch The leg angle of go1 in the simulator appears to be 90 degrees different from the initial position. Can you tell me how to improve this?...
While running legged control, I am getting following exception : ### 'pawup.switchingTimes': {0, 2} #### 'pawup.modeSequence': {RF_LH_RH} [ INFO] [1708660110.135367770]: legged_robot_mpc_mode_schedule command node is ready. Enter the desired gait, for...
Hi, i am trying to use this package to control my robot model in gazebo. I have changed my robot link and joint names to match legged_unitree_description. But, I am...
Hello, thank for this repository, it helps a lot! I have a problem when I launch the controller on Unitree Go1: I robot is not flat, and when I trot,...
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Nonlinear MPC and WBC framework for legged robot based on OCS2 and ros-controls