Issues with replacing robot models

[gearguan]

Hi there, I created a new quadruped model with the same contents of the .yaml file in config as the spirit robot, no changes were made, and I did not modify any parameters in all controller.

When I run quad_plan.launch, the robot moves around and it shows that the nmpc solving failed.

Can this possibly be caused by what? Has anyone encountered a similar problem?

[AndrewZheng-1011]

Hey geargaun, I believe I had similar issues initially as well. Is the dynamics of the robot model the same as spirit? If it's not the case, not only do you have to change the robot model, but within the code itself you need to change the dynamics of the quadruped. A few of these would be in the:

• local planner
• the matlab files in the nmpc script files to generate the dynamics of your robot
• Additionally enabling these options in the corresponding launch files

Issues #312 and issue #310 highlights some of the changes within the code that needs to be changed.

[gearguan]

@AndrewZheng-1011 Thank you very much, your suggestion is very helpful and the simulation works fine now. 👍