Chengzhen Yan

icon company University of Science and Technology of China icon location China

Results 1 issues of Chengzhen Yan

Major problems in robot param & MPC control

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in gazebo_a1_mpc.yaml the a1_trunk_inertia is set to `a1_trunk_inertia_xx: 0.0158533 a1_trunk_inertia_xy: 0.0 a1_trunk_inertia_xz: 0.0 a1_trunk_inertia_yz: 0.0 a1_trunk_inertia_yy: 0.0377999 a1_trunk_inertia_zz: 0.0456542 ` which is obviously copied from the urdf file of a1...