problem about trotting up stairs in gazebo

ShuoYangRobotics / A1-QP-MPC-Controller

An open source implementation of MIT Cheetah 3 controllers

GNU Affero General Public License v3.0

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problem about trotting up stairs in gazebo #4

Closed zhuyijie88 closed 2 years ago

zhuyijie88 commented 2 years ago

Hi, I tried your code in gazebo, running in the docker environment. The simulation step is small and the locomotion does not match with real-time performance. Also, the parameters of ODE engine affect largely the locomotion. It seems that the dog never falls down from the stairs even when its head is in touch with the stairs, which is unreasonable in reality.

ShuoYangRobotics commented 2 years ago

Yes, all simulations are wrong. The simulation only helps you to be aware of what variables and behavior you should monitor when developing a hardware robot.