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IMU sensor locations #18

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wyqsnddd opened this issue Jan 21, 2025 · 0 comments
Open

IMU sensor locations #18

wyqsnddd opened this issue Jan 21, 2025 · 0 comments

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@wyqsnddd
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I noticed a discrepency between the sensor locations in two places:

  _bodySensors.emplace_back("Accelerometer", "trunk", sva::PTransformd(Eigen::Vector3d(0., 0., 0.)));
  _bodySensors.emplace_back("FloatingBase", "trunk", sva::PTransformd::Identity());
  • In package go1_mj_description: go1.xml
<body name="trunk" pos="0 0 0.38">
        <inertial pos="0.0223 0.002 -0.0005" mass="5.204" fullinertia="0.0168128557 0.063009565 0.0716547275  -0.0002296769 -0.0002945293 -4.18731e-05" />
        <freejoint name="trunk" />
        <geom class="collision"  mesh="trunk" />
	    <geom class="visual"  mesh="trunk_vis" />
        	    <!-- site for root imu sensor -->
	    <site name="Gyro" size="0.01" pos=" -0.01592 -0.06659 -0.00617" />

Basically, it is about the translation of -0.01592 -0.06659 -0.00617. I wonder is it an issue? or is it meant to be like this?

Best,

Yuquan
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@wyqsnddd