Bad standup on hardware robot (not spirit, go or A1!)

[elpimous]

Hello the team. Thanks for help. Now, i can make my ylo2 robot move for a standup. URDF and SDF ok, inertias and gravity ok.

When running robot_hardware.launch, the robot automatically standup (after a homemade zero calibration = ok) During standup, all joints have correct direction, imu seems ok,

But robot is pushed backward : it stands up, with anything like 45° up-rear. Any idea ?

Perhaps should I modify standup pose (joints). If yes, where?

[elpimous]

https://youtu.be/LNuAhMMIKZ0

[elpimous]

hello, well even with correct servos direction and correct sit down and standup params :

ylo2@ylo2-UP-WHL01:~$ rosparam get /robot_driver/sit_joint_angles

- 0.165
- 0.59
- 1.36

ylo2@ylo2-UP-WHL01:~$ rosparam get /robot_driver/stand_joint_angles
- 0.0
- 0.5213467868148791
- 1.09094730619712

The robot put it legs right, and perpendicular to body (my real zero joints)

I don't anderstand what happens.. Any small idea to share to help me progress ?!

[elpimous]

Here are my steps : Ylo2 robot is permanent zeroed with legs parallel, right, and perpendicular to body

In gazebo, robot has same pose than A1 (same xacro angles)

My xacro, urdf, sdf exactly reflect A1 description, with A1 naming directory and files.

Before running code, robot is in a sit position :

Then, when running the quad sdk controller, I do a rezero all joints, to check initial pose (the upper picture) , and if correct, i let controller loop.

When standing, even if I have set up sit and stand pos params, all joints goes to real 0 position (the hardware motors zero pos)

It's strange for me.. (ça fait ch#€%...)

[elpimous]

Or perhaps in hardware mode, initial pose and stand are set in other place? If yes, didn't find...

[jrenaf]

Hello @elpimous, it's great to see you are trying quad-sdk on new quadruped platform! The stand-up motion is hardcoded in robot_driver and it might be impacted by different initialization configuration. You might directly change that part here .

[elpimous]

Hello the team. Found an error in my joints order... Working now on joint direction, and initial pose.. Thanks https://youtu.be/VRGTjSVr3n8 Vincent