Ex.3 Trajectory Planning: Issue with turning speed

CMM-22 / a2

CMM Assignment 2 - Kinematic walking controller

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Ex.3 Trajectory Planning: Issue with turning speed #24

Open kiremicev opened 2 years ago

kiremicev commented 2 years ago

As soon as I add a turning speed the legs go crazy. Everything else seems to be fine. What could cause that problem?

https://user-images.githubusercontent.com/100943022/160614154-09414244-68ca-4a49-8989-47b9b5078478.mp4

For @eastskykang BTW: I have pushed my latest code changes in case you want to inspect it.

haumarco commented 2 years ago

Had the same problem, #10 solved it. You can see that the forward kinematics is wrong when the body is rotated because the green points don't align with the endeffectors anymore.

eastskykang commented 2 years ago

Sorry. My bad. There was a typo in tutorial slides. As @haumarco mentioned, this could be related to orientation. Please see #10.

kiremicev commented 2 years ago

Sorry, I did actually read it but didn't implement the axes right. My bad. I didn't know that the axis order is not the same as the angle order. For example, psi corresponds to y, theta corresponds to x and phi corresponds to z. Since the order of axis is [x,y,z] and the order of angles [psi,theta,phi] this is kinda unintuitive. Now it's working fine. Thank you!

eastskykang commented 2 years ago

Cool. I will leave this issue opened for ones who face the similar issue.