Closed Nicogene closed 6 months ago
Hi @Nicogene I visualized the frames and they are placed where expected as you can notice the in following picture
Now I will do a check similarly to https://github.com/icub-tech-iit/ergocub-software/pull/217#issuecomment-1941379516
I checked the IMU data with https://github.com/ami-iit/xcub-sensors-check and all of the readouts are correct. I added the gazebo model with the root fixed and I moved the robot from the motorgui
๐งช Running 12 tests...
โโโ Running test L_FOOT_FRONT_ORIENTATION...
โโโ Running test L_FOOT_REAR_ORIENTATION...
โโโ Running test L_FOOT_FRONT_GYRO...
โโโ Running test L_FOOT_REAR_GYRO...
โโโ Running test L_FOOT_REAR_ACC...
โโโ Running test L_FOOT_FRONT_ACC...
โโโ Running test R_FOOT_FRONT_ORIENTATION...
โโโ Running test R_FOOT_REAR_ORIENTATION...
โโโ Running test R_FOOT_FRONT_GYRO...
โโโ Running test R_FOOT_REAR_GYRO...
โโโ Running test R_FOOT_REAR_ACC...
โโโ Running test R_FOOT_FRONT_ACC...
๐ Test outcomes:
โโโ ๐ข Test L_FOOT_FRONT_ORIENTATION: Passed
โโโ ๐ข Test L_FOOT_REAR_ORIENTATION: Passed
โโโ ๐ข Test L_FOOT_FRONT_GYRO: Passed
โโโ ๐ข Test L_FOOT_REAR_GYRO: Passed
โโโ ๐ข Test L_FOOT_REAR_ACC: Passed
โโโ ๐ข Test L_FOOT_FRONT_ACC: Passed
โโโ ๐ข Test R_FOOT_FRONT_ORIENTATION: Passed
โโโ ๐ข Test R_FOOT_REAR_ORIENTATION: Passed
โโโ ๐ข Test R_FOOT_FRONT_GYRO: Passed
โโโ ๐ข Test R_FOOT_REAR_GYRO: Passed
โโโ ๐ข Test R_FOOT_REAR_ACC: Passed
โโโ ๐ข Test R_FOOT_FRONT_ACC: Passed
Signal | Acc | Gyro | Orientation |
---|---|---|---|
r_foot_front |
|||
r_foot_rear |
|||
l_foot_front |
|||
l_foot_rear |
Here you can find the dataset and the config file to run the tests config_dataset_test_imu.zip
I conducted a test on the model using an updated version of the walking controller, which aims to utilize the IMUs to enhance the system's overall robustness. The test yielded the expected results.
The only adjustment I made was increasing the frequency of the wrappers to match that of the robot (from 100Hz to 500Hz). However, this adjustment may warrant further discussion in a separate issue.
๐ข flag! @Nicogene you can merge it. Thank you very much for handling this ๐
They have been added by @GiulioRomualdi in;
217
Using
xmlBlob
due to a bug in creo2urdf that has been fixed:Moreover seems that the ones adde in #217 were wrong: