-In the sample walker code (python) we generate coordinates that are local to each leg. These coordinates are relative to the hip servo so that local coordinates are consistent between all 6 legs. The kinematic system will then do the conversion of global-
Here the ZY plane is parallel to the floor, and X is up and down. X: 0.005 R: -1.5653 Y: 0.1577 P: -0.0043 Z: 0.0 Y: 0.6601
Here the XY plane is parallel to the floor, and Z is up and down. These examples are from eye-balling the positions by hand.
left-front-foot: X: 0.1286 R: 0.0 Y: -0.1742 P: 0.9596 Z: -0.0431 Y: -0.0908
left-middle-foot: X: 0.212 R: 0.0 Y: 0.0028 P: 0.9160 Z: -0.0411 Y: 0.0122
left-back-foot: X: 0.1539 R: 0.0 Y: 0.1982 P: 0.8898 Z: -0.0411 Y: 0.8556
right-front-foot: X: -0.1241 R: 0.0 Y: -0.1822 P: 0.9718 Z: -0.0436 Y: -2.1796
right-middle-foot: X: -0.2103 R: 0.0 Y: -0.0035 P: 0.8863 Z: -0.0383 Y: -3.1242
right-back-foot: X: -0.1376 R: 0.0 Y: 0.2116 P: 0.8706 Z: -0.0395 Y: 2.1236
Intro Show base manipulation
- enable manipulators
- manipulator translation in X,Y
- no IMU atm, ground truth Show leg manipulation Show Trajectory
- turn off execution and show preview
- turn on execution and show actual Capture a Trajectory