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HitSZwang / mini-cheetah-pybullet

mpc and wbc for mini cheetah in pybullet
MIT License
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@param tauMax : Maximum torque output of the actuator #2

Closed raess1 closed 3 years ago

raess1 commented 3 years ago

Is the tauMax before or after gearing? Looking on MiniCheetah.h its defined as cheetah._motorTauMax = 3.f;

I am working on a custom acuator from t-motor AK10-9. link: https://store-en.tmotor.com/goods.php?id=1030

How do you think I should define tauMax?

HitSZwang commented 3 years ago

This motor is a little too luxurious, you can select motor according to MIT Mini cheetah motor model If the robot is 9kg, 3. f is enough. if it is bigger, you need to increase it.

raess1 commented 3 years ago

I am working on a bigger quad :) something between mini and cheetah 3. trying to import my urdf now and setting up the parameters. my robot is around 16-18kg image0 png

HitSZwang commented 3 years ago

you can refer the cheetah 3 code

raess1 commented 3 years ago

Thanks! No luck yet with my own urdf. :-(