hanliumaozhi/cassie_mpc

cassie_mpc

cassie_mpc

cassie_mpc

mpc wbc （需要修改一堆参数）

cassie_mpc's Issues

No visualization

Hello!
Interesting work! I had to change the CMakLists.txt a little but seems to work fine.
Is there any way you could point me towards some documentation or some paper? I wanted to see how you formulated the wb-mpc.
I am also not able to visualize, did you use drake for that too? Is there a separate code for that?
I only got the following output upon running:

13304
1
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
0
com: -0.0114496 0.000170439 0.868318
com vel: 0 0 0
head and vel: 0 0
left foot x y yaw: 0 0.2 0
right foot x y yaw: 0 -0.2 0
head ddot: 0
lambda begin: 0.999954 0 0 4.59791e-05
lambda end: 0.999977 0 0 2.29883e-05
r: 0.868 0.868
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
1
com: -0.0115013 0.00017054 0.867824
com vel: 0.169445 -0.0135542 0.000883575
head and vel: 0 0
left foot x y yaw: 0 0.2 0
right foot x y yaw: -0.04866 0 0.000503163
head ddot: 0
lambda begin: 1 2.62587e-17 0 0
lambda end: 1 2.62587e-17 0 0
r: 0.868 0.868
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
2
com: -0.00853873 -0.00561431 0.866511
com vel: 0.00375773 -0.000363432 -0.000183836
head and vel: 0 0
left foot x y yaw: 0 0.2 0
right foot x y yaw: -0.04866 0 0.000503163
head ddot: 0
lambda begin: 0.999988 0 0 1.18357e-05
lambda end: 0.999994 0 0 5.91751e-06
r: 0.868 0.868
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
3
com: -0.00855127 -0.00562112 0.866042
com vel: 0.089152 -0.0101832 2.22045e-16
head and vel: 0 0
left foot x y yaw: 0 0 0
right foot x y yaw: -0.04866 0 0.000503163
head ddot: 0
lambda begin: 0 0 0.991054 0.00894566
lambda end: 0 0 0.995828 0.00417202
r: 0.868 0.868
0.01 0.35 0.01 0.35 
0

优化速度

重新构造 足底位置的约束

完成框架的实现