search

mit-biomimetics / Cheetah-Software

MIT License
2.52k stars 911 forks source link

Overall Software Usage - Request #33

Open danachee opened 4 years ago

danachee commented 4 years ago

Hi, this is more of a request than a bug/problem. I want to make sure that I understand the use case for Cheetah-Software. I've installed it, and by using closed bugs and some experimentation, I think I have it running (for some value of run).

This is using MIT_Controller (mini cheetah and simulator)

  1. Is there a list of allowed control modes and their legal transitions, or is this a "read the code"?
  2. When running, if I transition to 4 (trot), I end up with a light blue screen and no robot. Sitting (0) and standing (1) seem fine. Is there a setting I'm missing?
  3. Is there a cheat sheet on what the game controller should do, and when you can/should use it?
  4. Is there an "output" of running the simulation? Some type of data (not sure what it would be)? Our goal is to change values and see what changes. Other than watching the screen, is there another way to capture this?

Thanks for your time!

SteveMacenski commented 4 years ago

I think this is definitely a "read the code" type project. I sat down over a couple of days and mapped it all out, I don't think you can get around that and use this work.

If I ever get my hands on a robot, I'll likely fork it and severely refactor it to be crystal clear.

xdaumich commented 4 years ago

The communication is through LCM. If you run lcm-spy in your terminal, it should list all the signals and provide a basic data streaming plot.