legged-robot / control_and_simulation Goto Github PK

Requirement

I want to establish the simulation of one leg jumping motion. Its important to make just that in order to more thoroughly test impact during jumps with different lending and jumping configurations since the structure allows redundant positions:

Problem

I have manually created the URDF and SRDF representation with the masses and inertia properties which correspond to my model (the visualization is highly simplified, but I will work more on it once I have more time). I have established jumping motions with crocoddyl and this is how it looks like at this stage:

Jumping is good but it fails when landing - its not just a landing problem actually. The problem is that I can not constrain the COM to only move vertically. One can see that the COM goes too far away, which causes the solver to end:

One can check the current solution in master branch with jupyter notebook (dont forget to clone the submodules as-well)

Solution I have tried

I have tried to add additional prismatic joint in URDF and specify that the joint is passive joint in SRDF so it wont be used for the control, but looks like that didnt work at all - the passive joint is still being controlled I think. The result I am getting here is that the robot at the end is not moving at all. You can check it out in the z_constraint branch (dont forget to check out to the develop branch in the submodule for the changes)