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ShuoYangRobotics / Cerberus

Visual-Inertial-Leg Odometry For Legged Robots
GNU General Public License v3.0
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Joint order in the topic /hardware_a1/joint_foot #3

Closed bhyu0924 closed 2 years ago

bhyu0924 commented 2 years ago

Hi,

I want to run your dataset to compare the performance. But I have an inquiry about your dataset.

FL seems "Front Left" but I cannot find any information of number FL0, FL1, FL2.

Is the joint order same as unitree A1 urdf ? Is this sequence 0(hip), 1(thigh), 2(calf) ?

TIA.

ShuoYangRobotics commented 2 years ago

Hi, yes the order you said is right.