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mit-biomimetics / Cheetah-Software

MIT License
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could you please share your heightmap file ? #57

Open allenwang-git opened 3 years ago

allenwang-git commented 3 years ago

I've noticed your 'height_map_demo.txt' in the 'config' folder, but it's too simple. Could you share more complex height map file? what's more, I used the visionMPC mode and found the robot cannot detect obstcles like box or stairs built in the terrain file. could anyone give me some guidance? thanks!

allenwang-git commented 3 years ago

one more question, how can I make the robot recognize the loaded heightmap like you did in your paper, although there are obstacles in the green mesh, the robot's yellow mesh doesn't match it.

ganlumomo commented 3 years ago

@AWang-Cabin Hi, have you dug into this? I am able to load a height map in the simulator, however cannot visualize the height map. Do you have some experience on this? Thank you so much!

allenwang-git commented 3 years ago

@AWang-Cabin Hi, have you dug into this? I am able to load a height map in the simulator, however cannot visualize the height map. Do you have some experience on this? Thank you so much!

Actually, these heightmap files can be load by configuring the default_terrain.yaml and uncommenting mesh type, and then when you use visionMPC mode, cheetah is able to avoid these obstcles automatically. Hope it helps.

ganlumomo commented 3 years ago

@AWang-Cabin Thank you so much for the prompt reply. I have been able to solve the previous issue. Currently, I want to walk the robot on customized height map with a specific initial state. However, I have trouble to set the initial state of the robot. It has been always initialized to 0,0,0. Do you have this issue?

allenwang-git commented 3 years ago

@Awang-Cabin 非常感谢您的及时回复。我已经能够解决上一个问题。目前，我想在具有特定初始状态的自定义高度图上行走机器人。但是，我很难设置机器人的初始状态。它一直被初始化为 0,0,0。你有这个问题吗？

I'm not sure what 0,0,0 means, but if you cannot set robot initial position, try to move your map relative position. All of things of map can be set manually.

aminghanbarzadeh commented 9 months ago

@AWang-Cabin Hi, have you dug into this? I am able to load a height map in the simulator, however cannot visualize the height map. Do you have some experience on this? Thank you so much!

Actually, these heightmap files can be load by configuring the _defaultterrain.yaml and uncommenting mesh type, and then when you use visionMPC mode, cheetah is able to avoid these obstcles automatically. Hope it helps.

Hi, i was wondering about visionMPC mode and wanted to know how you switch between convex and vision? i am loading the height map but there are no changes to the simulator. do i need to use ROS packages?