Added feature to save estimates and trajectory visualization - Githubissues

mrsp / serow

SERoW Framework for N Legged Robot Walking Estimation

Other

74 stars 16 forks source link

Added feature to save estimates and trajectory visualization #9

Closed MichaelMarav closed 3 months ago

MichaelMarav commented 3 months ago

Description

Added option to save the serow base state estimates (position + orientation) into a txt file.
Added README that gives instructions on how to visualize the test results using evo package
Added folder test/results for saving the base estimates
Corrected the mass of go2 on .json by adding the base mass that pinocchio ignores.
Tested visually if the mass of the robot affects the estimation and it does not (8kg vs 15kg).