Comments (2)
rubengrandia
commented on June 14, 2024
Hi,
Thank you for reporting. In the example you are running here, the "physics" of the simulation are identical to the MPC model. In this model we enforce the contacts with a zero velocity constraint. As you can imagine, such a constraint will cause drift over longer integration times. The issue that you show here is that the command is still published in world frame, but the notion of where the ground is has drifted in z-direction.
In an extended formulation we are adding a proper notion of where the terrain is in world frame and will integrate it in the optimization, simulation, and command side.
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edward9503
commented on June 14, 2024
Thanks a lot!
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