Standard Calculation of p_legs0 Parameter

[LockedFlysher]

I'm working with a humanoid robot simulation where the 'p_legs0' parameter (initial leg positions) doesn't correspond to my model's actual geometry. I need guidance on the standard approach to calculate these values correctly. I have some trouble with a new robot's gait setting.

This is blocking my simulation setup, so any guidance on the standard approach would be greatly appreciated.

[lorenzo96-cmd]

Hi @LockedFlysher,
I will need a few more info from your side. Are you using the MPCControllerWrapper? Did you have a look at the example with H1 in example/mjx_h1.py.
I see from the picture that you are keeping the right knee fully, which could cause a few problems due to the singularity.
What do you mean by gait setting? You can change the step frequency and duty factor from the config file.
p_legs0 is used to evaluate the next foothold position (except for the z component that is evaluated from a proprioceptive terrain estimator). The MPC is initialized by the reset function to the current joint values. If you can please explain better what you are trying to do and what the problem you are facing is, I will be happy to help you.
best
Lorenzo

[LockedFlysher]

I'm currently reviewing the whole project's structure, I'll be back soon.😊