Robot calibration in a Mirage simulation environment
- Hello. It may sound odd, but I need to calibrate walking parameters for
a simulated AIBO robot in a Mirage environment. I though that in a
"perfect" simulated environment calibration wouldn't be necessary, but I
was wrong. I tried with the clearcal.txt file and with the calibration
example file (walkcal.txt for the AIBO robot) but it doesn't rotate
around its very center, walking a little circle instead....
I tried with the instructions in
http://www.tekkotsu.org/WalkCalibration.html but Tekkotsu GUI doesn't
behave well under these "simulated" conditions: I can log locomotion
events, but when I navigate to the Interactive Calibration menu and
select the "0:Interactive calibration" option, it doesn't allow me to
navigate/ select any of the options. It always highlight the "0: Help"
option, like it was stuck...furthermore, if a finally can select the
"3.Take Measurements" options (with the Mouse pointer) it sometimes goes
directly to a calibration but sometimes tekkotsu crash with error
messages. Navigation works very odd at these menu levels...
Could you give me an insight about how to calibrate just looking at the
log event values? Which values should I pass to the calibration matrix,
and in which position?
This way I would just write down the "correction" values for every
desired movement at the log console and use them for the calibration