YuXianYuan
commented
4 years ago One question: when using cheater_mode, how many robots can you see in the simulation interface? Normally, two robots with the same initial position are allowed to see. If you only see one, the previous problem still exists
You can continue to locate the problem in the following ways: 1, " seResult.position "Is calculated by the" linearkfpositionvelocityestimator < T >:: run() "function.(when cheatermode = 1) Moreover, the "input" of the function is "& sharedMemory(). simToRobot.spiData ; "and"&_ sharedMemory(). simToRobot.vectorNav ."
2, In the file“ Simulation.cpp ", the last five lines are used to draw the two robots I suspect that in some calculations, there is something wrong with the variable "_simulator"
If there is any new progress, please let us know,thanks.
Hello,
I am using the MIT_Controller along with the simulator for mini cheetah. I am trying to control the robot with a gamepad. Although I am not using the Logitech one, I debugged pretty much everything and the gamepad is detected successfully and all the buttons and axes work fine, so it shouldn't play any part in the problem below.
Issue I start the simulator, set use_rc to 0, set control_mode to 1, and the robot stands up. Then I set the control_mode to 4 and the simulation shows the sky (the robot disappears). After some debugging I traced back the issue as far as I could and I figured out that there are nan values.
The nan's appear in ConvexMPCLocomotion.cpp: In line 107:
auto& seResult = data._stateEstimator->getResult();seResult.position is (nan, nan, nan), which in turn makes pFoot[i] in line 206 (nan, nan, nan), and so on...I am wondering if I am missing something in the way I perform my test, or if this is due to something broken due to a library update.
Update Everything works fine if I have cheater_mode to 1. Any thoughts on that?
Thanks, Christos Christou.