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bridgedp / hunter_bipedal_control

An open source bipedal robot control framework, based on non-linear MPC and WBC, tailered for EC-hunter80-v01 bipedal robot.
MIT License
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A little strange about the joint axis settings in the urdf file #11

Open shuaikangma opened 5 months ago

shuaikangma commented 5 months ago

I try to uselegged_examples/legged_hunter/legged_hunter_description/urdf/hunter.urdf in isaacgym for rl training; When I set the same initial pos for the left and right leg by hand, I found the angle is a little strange; The pos of left leg joint 3,4,5, are 0.3, 0.6, 0.3, while the pos of the right joint 3,4,5, are -0.3, 0.6, 0.3; This less intuitive setting caused my training to fail many times; Can someone re export the URDF so that all pitch axis directions are along the positive y-axis of the right-hand coordinate system? image

Sher1ockFan commented 5 months ago

Just change the sign of the axis tag in the URDF to get what you want.