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LouKordos / walking_controller

The main walking controller code for the Bipedal Robot.
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Check Joint orientation and possible sign swaps in simulation #54

Closed LouKordos closed 3 years ago

LouKordos commented 3 years ago

Check Joint orientation in Simulation and sign swaps for body frame (i.e. force to torque function) because it might be causing issues with walking.

LouKordos commented 3 years ago

Checked orientation of all joints in Gazebo, frame orientation looks identical to the one in the model, which means it is very likely the signs are currently correct and model and simulation match.