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NHirose / SACSoN

Scalable Autonomous Control for Social Navigation
MIT License
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the linear.x and angular.z too big in HuRoN dataset #1

Open 942411526 opened 4 months ago

942411526 commented 4 months ago

Dear author, Thanks for your great work , there is a problem with the linear.x and angular.z too big in HuRoN dataset when we play the bage eg [4.267790794372559, -8.381914138793945]
[0.9343571066856384, 7.951975345611572] The value is bigger than I know
cmd_vel = odom.twist.twist linear_x = cmd_vel.linear.x angular_z = cmd_vel.angular.z This is my code to read the data in the bag

NHirose commented 3 months ago

HuRoN dataset contains the wheeled odometry. Not the velocity command, since we do not use the velocity commands in SACSoN training. If you need the velocity commands, you need to (approximately) calculate it from the odometry.