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chvmp / champ

MIT Cheetah I Implementation
BSD 3-Clause "New" or "Revised" License
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Robot legs move in opposite directions than what's showing on rviz using joints gui #101

Closed TonyLiu836 closed 1 year ago

TonyLiu836 commented 1 year ago

Hi,

I've been stuck on trying to figure out why the legs on the left side of my robot move in opposite directions than what's showing on rviz when using the joint gui. I followed the hardwar_integration guide and mounted the servos at their zero positions with the robot's legs pointing straight down. Additionally, the shoulder/hip actuator can only move in one direction, as it is already at the limit of it motion range according to the directions in the hardware_integration guide. Is this intended?

Thanks!

RamCharanThota commented 1 year ago

On of the Simple check we did is, whether all the axis defined in the leg joints follow the required champ configuration which is as shown in figure joint_axis_config. Hope it will help to resolve the issue

yoggi56 commented 10 months ago

I encountered the same issue when I had wrong rotation directions in joints in URDF file of my robot. Check champ.urdf file. You should have these values for your robot:

  1. hip_joint: <axis xyz="1 0 0"/>
  2. upper_leg_joint: <axis xyz="0 1 0"/>
  3. lower_leg_joint: <axis xyz="0 1 0"/>