Staircase issue.

[hrxsd]

@qiayuanliao Which parameters need to be modified to enable the robot to adapt to the stairs environment? I created a staircase environment in Gazebo, but the robot failed to pass it successfully.

[danisotelo]

Hi, @hrxsd! I just uploaded a repository where I modified the trajectories planner to account for the height change of the feet contact as the robot goes up the stairs. Check it out here: https://github.com/danisotelo/qm_door. Hope it can help you! 😄