Closed lk-greenbird closed 2 months ago
Hi,
_abadLinkLength
is the length between hip and thigh joints, which determines the offset of foothold in y-axis for each foot._bodyMass
represent the lumped body mass used in single rigid body dynamics model, and 5.2 is the reading of the trunk mass from URDF, so times it by 2 to approximate the total body mass._mpc_weights
will only be changed if you are running in "policy" mode of the controller.Thanks
Thank you for your great work! I am very interseted in it. I want to add unitree Go2 to RobotType, then I check the <rl-mpc-locomotion/MPC_Controller/common/Quadruped.py> where defines some physical properties of the robots, like A1,Go1. I would like to know how some parameters are determined so that I can adjust them according to Go2. Take Go1 as an example
What do the following parameters mean? self._abadLinkLength self._abadLocation How are this related to the URDF file in assets folder, or can it be determined from the URDF? why does the self._bodyMass Multiply by 2? Does the self._mpc_weights is just an initial value?