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ShuoYangRobotics / A1-QP-MPC-Controller

An open source implementation of MIT Cheetah 3 controllers
GNU Affero General Public License v3.0
630 stars 129 forks source link

Will this pkg be used in Go1 directly? #5

Closed crankler closed 2 years ago

crankler commented 2 years ago

Hi, will this pkg can be used in Unitree Go1 robot now? and I'm not sure the contact detection can be change (I also found a pkg from Aaron lab: https://github.com/robomechanics/quad-sdk, and I notice you also mentioned contact point in your newly pkg "legged-kinematics-calibration")

ShuoYangRobotics commented 2 years ago

Yes it can work for Go1 directly but some parameters should be changed slightly. create a new yaml for Go1 here https://github.com/ShuoYangRobotics/A1-QP-MPC-Controller/tree/main/src/a1_cpp/config

Also our docker is build using old unitree_sdk version. To support Go1 you need to change sdk version (https://github.com/ShuoYangRobotics/A1-QP-MPC-Controller/blob/main/docker/Dockerfile#L141) Change this branch to a version that support Go1.

Contact detection does not need to be changed because A1 and Go1 use the same unitree SDK to read contact sensor data.

crankler commented 2 years ago

Yes, I'll try these day and thank your for your help!