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mit-biomimetics / Cheetah-Software

MIT License
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Question about mini-cheetah initial state #75

Open ganlumomo opened 2 years ago

ganlumomo commented 2 years ago

Hi, I am working on mini-cheetah's way point following in a height map built by realsense. I want to initialize the robot at a specific location in the height map. The init robot pose seems to be hard coded here: https://github.com/ganlumomo/Cheetah-Software/blob/simulation/sim/src/Simulation.cpp#L135, so I have set the value to (x, y, height_map(x, y) + 0.05), (Do I need to consider the height at the location when I set init state?). However, the robot state estimator seems did not get the correct z value. It looks like the following image. Could you give me a hint how to make the robot estimator working properly?

Thank you so much!

image

ganlumomo commented 2 years ago

Okay, I am able to make the two aligned by tuning the z value in left_corner_loc of the loaded hightmap. Anyone have suggestions on how this value should be set instead of tuning? Thanks!

aminghanbarzadeh commented 8 months ago

Hi, i wanted to ask about the simple plane simulator not using the height map. i wonder if you know how to change the initial position of the robot not using any height maps and where exactly the world coordinate axis are defined?