chassis observation

[Gaoeee]

Hi,

I am currently working with the GalaxeaInterface and noticed that for the chassis observations, the code seems to prioritize/use the wheel heading/orientation.

Could you please clarify why the linear velocity (translational speed) is not included as part of the primary observations for the chassis? Is this due to a specific hardware constraint of the R1-Lite/Pro series, or is it a design choice for the current policy/control framework?

Thanks!

[llliuxiao]

Hi,

I am currently working with the GalaxeaInterface and noticed that for the chassis observations, the code seems to prioritize/use the wheel heading/orientation.

Could you please clarify why the linear velocity (translational speed) is not included as part of the primary observations for the chassis? Is this due to a specific hardware constraint of the R1-Lite/Pro series, or is it a design choice for the current policy/control framework?

Thanks!

Hi, it is actually a design choice for our policy. You can get chassis and velocity observation in topic /hdas/imu_chassis and /hdas/imu_torso.