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chvmp / champ

MIT Cheetah I Implementation
BSD 3-Clause "New" or "Revised" License
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Changing Gazebo Physics #107

Closed HB-Liang closed 1 year ago

HB-Liang commented 1 year ago

Hi there, recently I keep moving on quadruped and solve that annoying initial position problem. I come up with another problem that I need a quadruped working with a drone in a same gazebo world. But they are not compatible as my drone works fine in the world physics with max_time_step=0.004 and real_time_update_rate=250. In the same world, I use spawn_robot.launch in champ_config as a default spawning. And here is what it behaves: sample 00_00_00-00_00_30~1 Would you please give some advise on changing quadruped setup? BTW, quadruped works fine in a world with physics max_time_step=0.001 and real_time_update_rate=1000, but drone doesn't. Thanks.

grassjelly commented 1 year ago

I’m afraid you can’t run 2 different physics parameters in a single Gazebo world. You might need to decide which robot to adapt to another

HB-Liang commented 1 year ago

That's the point, would you please give me some advise on adjusting quadruped's parameter to run in world with 0.004&250?

RamCharanThota commented 1 year ago

Hi @HB-Liang, I am not sure this answer might help you to solve your issue. I had same issues with robot jumping around. For me, it is mainly due to PID values in the controls configuration values of the robot. I have tuned them until stabilising the robot at start. Hopefully, it will resolve your issue.

grassjelly commented 1 year ago

closing this as the issue is more Gazebo related. Feel free to re-open this