fix g1 com example#187
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stephane-caron merged 2 commits intostephane-caron:mainfrom Apr 20, 2026
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Relaxed the constrains in the foots x and y positions to get the example working, I assume the errors comes from discrepancies between the current urdf of the G1 and the one available when this example was developed
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Great, I test, it works! |
Owner
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Thank you for raising the issue and proposing this fix 👍 I could reproduce the issue, and checked that the fix works. |
Screencast.from.2026-04-23.13-18-21.webmThanks for the great effort, I tried python humanoid_g1_com.py |
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Oh I saw this, it is right. |
Contributor
Author
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Yes the behavior is not ideal but in order to fix the slipping it required some tuning. In my examples it worked "fine" if the target COM is slightly translated in the x axis. |
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@nmarticorena TQ! |
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This PR is related to issue 186
The fix consist in relax the constraints in the foot's x and y positions. As mentioned before I assume the errors comes from discrepancies between the current urdf of the G1 and the one available when this example was developed.
Additionally, added a visualisation of the current com and the desired one for easier debugging.
I saw that viser was recently added as a visualization backend, happy to update this example to include for example interactive targets for the hands and some usefull sliders