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qiayuanl / legged_control

Nonlinear MPC and WBC framework for legged robot based on OCS2 and ros-controls
BSD 3-Clause "New" or "Revised" License
854 stars 217 forks source link

Staircase issue. #54

Open hrxsd opened 9 months ago

hrxsd commented 9 months ago

@qiayuanliao Which parameters need to be modified to enable the robot to adapt to the stairs environment? I created a staircase environment in Gazebo, but the robot failed to pass it successfully.