Trouble with Parameter Tuning

[EthanZengg]

Hello,
I would like to use the controller in Webots using ROS topic communication

I am encountering some difficulties. Specifically, I am having trouble tune the parameters . Could you offer any guidance or suggestions to assist me with this issue?

https://github.com/user-attachments/assets/05228b1c-949f-47b1-8c93-afba8a6a5f9f
https://github.com/user-attachments/assets/263f6e67-7a9b-4996-9d34-f11b7868c13c

[stephane-caron]

You could take a look at this note: Tuning the LIPM walking controller. Some parts may not match the JRL controller now, but the general ideas should still hold.

Out of curiosity, what robot model is this? If there is an open-source description for it, I'd be curious to check it out.