Revision history [back]

My first guess would be that the inverse kinematics function might have some bugs. This needs to be supplied by the user to xpp. You can reuse the one from the xpp HyQ example, but only if your kinematic tree is the similar and you adjust the frames and link parameters. So I would check that function, the conversion from cartesian endeffector positions to joint angles.

Hope this helps, best of luck :)