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cmm-21 / a2

Assignment 2 - Kinematic walking controller
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Feet underground #6

Closed catachiii closed 3 years ago

catachiii commented 3 years ago

Dear TAs,

I think I managed to implement the FK in ex1, but the feet of my dog are somehow underground. I guess there is a deviation in the z-direction of the base coordinates of the robot body, should we try to fix it, or is it part of the exercise? I'm not alone with this issue.

image image

LJRoffler commented 3 years ago

+1

eastskykang commented 3 years ago

Hi, all. If you want to change starting base height,

go to src/app/robots.h 

/* global variable */
std::vector<RobotModel> robotModels = {
    // simple robot models
    RobotModel("Dogbot",                                    //
               CRL_DATA_FOLDER "/robots/cora/cora_v4.rbs",  //
               "",                                          //
               "tibia_0",                                   //
               "tibia_1",                                   //
               "tibia_2",                                   //
               "tibia_3",                                   //
               0.42,                                        //  change this value to ~0.5
               0.42,                                        //
               0.10),

};

BTW once you implement IK solver successfully, you will see the feet move up and down from the ground. (it won't go under the ground anymore)