what is the meaning of feet_bias_

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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Open yakunsjtu opened 2 months ago

yakunsjtu commented 2 months ago

Hi developers,

I noticed there is a variable called feetbias but I can't figure out its physical meaning. Could you give some reference/hint for it?

In the code, it is used for compute the location of the shoulder joint, but why it also has a z bias value (-0.63) of the foot?

Screenshot from 2024-06-10 18-24-42