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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
933 stars 234 forks source link

Get position and orientation data #74

Open UchidaKouki opened 4 years ago

UchidaKouki commented 4 years ago

Hello I want to get the position and orientation data of the robot. Now, I could get these data of robot CoM by converting the walking bag data to csv. But, I could'nt find these data of robot leg in csv. Are position and orientation data of robot legs published? If these data exist, what should I do to get data from rviz?

awinkler commented 4 years ago

The joint angles are not in the walking bag data (mostly because joint angles are not part of the optimization, only endeffector positions). The visualization is performed by doing inverse kinematics (IK) using https://github.com/leggedrobotics/xpp. You can go into the IK function of HyQ or the one-leg hopper, or the two leg hopper to read out the joint values. Best of luck.