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leggedrobotics / ocs2

Optimal Control for Switched Systems
https://leggedrobotics.github.io/ocs2
BSD 3-Clause "New" or "Revised" License
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I am working on quadruped robot, if I want to change order of leg, which file should I change? #80

Open wanghg1992 opened 1 year ago

wanghg1992 commented 1 year ago

I am working on quadruped robot, if I want to change order of leg, which file should I change?

elpimous commented 1 year ago

Hello. you need to create a function who change id of joint, and eventually it direction. You can take idea here : https://github.com/elpimous/Legged_Control/blob/8fecbf5ec8629132308ff95e25dc105f80ebde0f/legged_ylo2/legged_ylo2_hw/moteus_driver/src/YloTwoPcanToMoteus.cpp#L41