angular position
aysegulucar2016 opened this issue · 1 comments
aysegulucar2016 commented
What are angular position of robot, alpha ? I cant see an expression of alpha beta and gamma in text. Did you use imu sensor? imu includes angular velocity, poziiton and acceleration?
Are torso orientation equal to pitch angle?
sayantanauddy commented
Alpha is the orientation of the torso about the x-axis. On the physical robot this value (and beta and gamma) will be calculated using the IMU but in the simulation these have been obtained directly from the simulator.
The torso orientation that is of importance here is the yaw angle (around the z-axis).