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NDHANA94 / hyperdog_ros2

HyperDog is a quadruped robot which is fully based on ROS 2 and Micro-ROS
MIT License
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Question related to hyperdog_ctrl -> cmd_manager -> hyperdog_variables.py #15

Closed lukasehr closed 4 months ago

lukasehr commented 6 months ago

Hi, I would like to use the gait_generator from Hyperdog for another robot model. However in the python-file hyperdog_variables.py, there are some params that I don't know exactly how they are defined:

1) In Line 95 - 98, there is _L1, _L2 and _L3, I suppose those are the length of the upper_leg, lower_leg and feet?

2) in Line 52-55, there is _length, _width, _min_height, _max_height, are those measured from the ground to the top of the robot or is it only to the centre of gravity?

I would really appreciate an answer!

NDHANA94 commented 6 months ago

Hi,

_L1 - Hip Link Length _L2 - Upper Leg Link Length _L3 - Lower Leg Link Length

_length - distance between back legs origin and front legs origin. _width - distance between right legs origin and left legs origin. _min_height - minimum possible height a leg can be along z axis. _max_height - maximum possible height a leg can be along z axis.

Hope this answer is helpful