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skywoodsz / qm_control

Quadruped manipulator controller using model predictive control and whole body control based on OCS2
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Problem when changing aliengo to unitree B1 #13

Closed OceansDepp closed 3 months ago

OceansDepp commented 3 months ago

Hi! Thank you for sharing the project! I am trying to change the quadruped robot from aliengo to B1 (whose trunk is about 25kg). I successfully change the robot model and run the whole pipeline (by creating a new const.xacro for b1 robot and edit the robot.xacro), but find some problems in controlling the base. When given a goal point of ee, the base is not able to stand up (it seems that the torque of the motors is too small to hold the body up). I did try to tune the weights in task.info and wbcWeight.cfg file, but it still won't work. Therefore, I wonder could you please give me some suggestion on how to solve this problem? I really appreciate it if you could give my some advice based on your understanding of the project.

OceansDepp commented 3 months ago

issue solved!

Hotsburp commented 3 months ago

Hi @OceansDepp, how did you solve the issue? I was thinking about using Unitree B1 too. Thank you in advance!

skywoodsz commented 3 months ago

@OceansDepp Thanks for your follow!

I recommend replacing robot urdf with your robot urdf.

For your question, I suggest you turn recompileLibrariesCppAd to the true in the task.info. In this way, the new weight in MPC can work.