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chvmp / champ

MIT Cheetah I Implementation
BSD 3-Clause "New" or "Revised" License
1.52k stars 354 forks source link

Change step height #75

Closed itaouil closed 2 years ago

itaouil commented 2 years ago

Hi @grassjelly,

Thanks a lot for making this open source, and for actively working on it :).

I wanted to create a new gait or modify one of the existing ones to get AlienGo to climb stairs blindly on simulation.

I saw issue #56 and I was wondering whether there is a parameter that I could change to raise the step height? And of course if you have any insight or suggestions regarding being able to blindly climb stairs with AlienGo using champ :)?

Best, Ilyass

grassjelly commented 2 years ago

Hey @itaouil This project might be useful. https://github.com/hgaren/aliengo_delivery/blob/master/aliengo_base/src/quadruped_awareness_controller.cpp#L166_delivery. They altered the gait pattern and use https://github.com/ANYbotics/grid_map to estimate a good foot location to climb stairs.

Supergithubber commented 2 years ago

Hi！ @itaouil @grassjelly After configuring Aliengo with Assistant, aliengo can walk in Rviz, but cannot stand in Gazebo. How can I solve this problem? Thank you for your answer！

itaouil commented 2 years ago

Hey @itaouil This project might be useful. https://github.com/hgaren/aliengo_delivery/blob/master/aliengo_base/src/quadruped_awareness_controller.cpp#L166_delivery. They altered the gait pattern and use https://github.com/ANYbotics/grid_map to estimate a good foot location to climb stairs.

Thank you @grassjelly

itaouil commented 2 years ago

Hi @Supergithubber,

I am not sure what you are referring to.

I did not try what Juan suggested yet, if that is what you mean by "Assistant" :).

Supergithubber commented 2 years ago

Hi，Thank you for your reply！ I encountered the following problems: When I used Aliengo, it walked in Rviz, but in Gazebo it lay prone and couldn't walk. Looking forward to your reply!

amit-z commented 1 year ago

@itaouil Hey, did you manage to modify Champ so that it can climb stairs? It seems that the script we should modify is quadruped_controller. I'll be happy to hear if you have some feedback regarding this topic.