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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
254 stars 61 forks source link

Questions about replacing the hunter.urdf with my own robot urdf #12

Open BIT-XLJ opened 3 months ago

BIT-XLJ commented 3 months ago

Hi, thanks for your great job! But when I tried to replace the hunter.urdf with my own robot urdf file, I met with some problems. The detailed error message is as follows: Exception thrown while initializing controller 'controllers/legged_controller'. [loadEigenMatrix] Loading empty matrix "defaultJointState" is not allowed. [ERROR] [1711528030.095693963]: Initializing controller 'controllers/legged_controller' failed. Except for the urdf file, I also replaced the reference.info and task.info. I changed the 'defaultJointState' in reference.info and the 'initialState' in task.info to make sure that the default joint state is what I want. Can you give me some advice on how to fix this problem?

LoveThinkinghard commented 2 months ago

It's possible that the file didn't load correctly. You can try printing out some variables to debug it.