Obtain some status information of the robot

ethz-adrl / towr

A light-weight, Eigen-based C++ library for trajectory optimization for legged robots.

http://wiki.ros.org/towr

BSD 3-Clause "New" or "Revised" License

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Obtain some status information of the robot #101

Closed hanzhi0410 closed 6 months ago

hanzhi0410 commented 6 months ago

May I ask if it is possible for you to save the information of the robot's root pos, root rot, joint-pos, foot_pos, lin_vel, ang_vel, joint-vel, foot_vel, etc. in this project

bili-cheers commented 6 months ago

Hi, how did you solve this problem?

hanzhi0410 commented 6 months ago

Sorry, I didn't solve this problem, but I think we can calculate the joint position through the end effector position and inverse kinematics