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cmm-21 / a2

Assignment 2 - Kinematic walking controller
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Robot Model start in ground #26

Closed Maenzgi closed 3 years ago

Maenzgi commented 3 years ago

Dear TAs and fellow students

I am having a weird issue, and I am not sure if it is my fault or if it is a bug in the program structure: I think I've implemented Task 1 correctly, and the green spheres appear where they should (if I compare them to the images in the readme file). However, for some reason the robot is in the ground. I haven't changed anything in the code except in the two functions that we have to work on in task 1.

Robodog
iqiac commented 3 years ago

see #6

Maenzgi commented 3 years ago

see #6

I think it is not the same issue, because my spheres are at the correct position, and only the robot is in the ground. In #6, everything is shifted

iqiac commented 3 years ago

Ah sorry. In that case, it looks like something went wrong with maybe the last translation step where you add the x_root (kinematics slide 39). I don't have further ideas at the moment.

eastskykang commented 3 years ago

As @iqiac suggested, please see #6 and set the starting height to be 0.5.

Unless you implement Ex.2, you will see the feet are still under ground.

(It was 0.5 when I made a screenshot but later I changed it to 0.42)

eastskykang commented 3 years ago

BTW somehow (in the image you uploaded) I see the green spheres are not located in correct position. Please do a double check your forward kinematics implementation.