Closed elpimous closed 1 year ago
Yes, it is needed for this project. However, you can hack and use the MPC output as the contact state. I may write some code for this feature in the future.
Ohhh bad for me 😭 Thanks friend for the quick answer. Now my robot code is nearly ready. I tested a standup, and motors jiiters. I am missing those contactstates. Can I use an existing variable? Will you have time, very soon, to code the mpc hack you said? Have a nice day.
hi, @qiayuanliao , did you have time to add MPC output as the contact state ? Thanks.
Hi Jim. Any hope for any mpc contact states? See you. Vincent
Sorry for the delay. I am working on another project currently. I will add this feature within a month.
Ohh happy for you, my friend. Wish you the best. And don't forget me/us, please 😉 I'll wait necessary time. 🙏
There is a quick way to hack:
Replace the line with contactFlag[i] = leggedInterface_->getSwitchedModelReferenceManagerPtr()->getContactFlags(currentObservation_.time)[i]
So the state estimator directly acquires gait schedule instead of contact sensors.
Ohhh thanks a lot... @LifelongYuan I'll test it tonight... I'm impatient. 👍
Seems working.. thank you so much
Hello, is those variables really necessary for the controller?
https://github.com/qiayuanliao/legged_control/blob/eff523ddec6b392414073d7ff5f1534cd411c533/legged_examples/legged_unitree/legged_unitree_hw/src/UnitreeHW.cpp#LL57C3-L59C4
My robot lib doesn t have it.. Thanks Vincent