Open J0keryang opened 1 year ago
Hello @J0keryang My joints order is different too. I use a motor_adapter index to select joint, direction and controller ID, regarding to needed index. https://github.com/elpimous/Legged_Control
Hope it will help you.
Hummm did you change rotation order of joints into urdf? Haa is 1 0 0 Hfe and kfe are 0 1 0
Vincent
Hello @J0keryang My joints order is different too. I use a motor_adapter index to select joint, direction and controller ID, regarding to needed index. https://github.com/elpimous/Legged_Control
Hope it will help you.
Hummm did you change rotation order of joints into urdf? Haa is 1 0 0 Hfe and kfe are 0 1 0
Vincent
Thank you for your suggestion, Vincent. My friend found this problem might be caused by the difference between the source code of Qingyuanliao and Unitree SDK, in terms of the joint index. As you mentioned, we indeed take the same rotation order of joint as you did (Haa is 1 0 0 Hfe and kfe are 0 1 0). Also, I have marked your projects as great learning resources.
Hi, @J0keryang . did you success, finally ? I have a problem, and perhaps could you help ( it seems that this framework isn't maintained anymore , I'm sad !) When running on real robot, and rviz, when I move a real leg, i can see same move on rviz. But trying to standup, real joints are moving everywhere (same on rviz). Strange. Could you tell me what are your real joints order, their polarity (direction), and perhaps share your urdf file in mp ? Have a nice day, friend ps share some videos, too, if you have :) Best, Vincent
@J0keryang please, up.
I tried to understand the code in this project with the purpose of individual dissertation. But the legged model I designed is different from the Unitree A1. For each leg of Unitree A1, the sequence of robotic joint is HAA(thigh)--HEF(hip)--KFE(knee) but the sequence of my model is HFE(hip)--HAA(thigh)--KFE(knee). I have modified the order of names (in the form of String) related to each joint of this project and tested my model in gazebo. As a result, it seems like my robot tended to move along y-axis (going forward means moving along x-axis). I am not sure how to modify the code in this project to solve this problem.
I'll be patient to wait for any solution. Thank you.