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Commit 170e7fdf authored by Médéric Fourmy's avatar Médéric Fourmy
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New dataset

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2 merge requests!18Release after RAL,!17After 2nd RAL submission
......@@ -38,6 +38,9 @@ std_abs_bias_pbc: 0.1 # noprior
# std_bp_drift: 1000 # All the drift you want
std_bp_drift: 0.005 # small drift
std_pose_p: 0.001
std_pose_o_deg: 1
bias_imu_prior: [0,0,0, 0,0,0]
# bias_imu_prior: [0,0,-0.011,-0.000079251, 0.00439540765, -0.0002120267]
# bias_imu_prior: [0,0,-0.11, 0,0,0]
......@@ -57,9 +60,9 @@ l_p_lg: [0.0, 0, 0]
# l_p_lg: [0, 0, -0.031] # for sin traj, point to which position estimation on z starts to be less good
# base to IMU transformation
# b_p_bi: [0.0, 0.0, 0.0]
b_p_bi: [0.0, 0.0, 0.0]
# b_p_bi: [-0.2, 0.0, 0.0]
b_p_bi: [0.1163, 0.0, 0.02]
# b_p_bi: [0.1163, 0.0, 0.02]
b_q_i: [0.0, 0.0, 0.0, 1.0]
# b_q_i: [0.00000592745, -0.03255761280, -0.00025745595, 0.706732091]
......@@ -140,10 +143,14 @@ artificial_bias_p: [0.0, 0.0, 0.0]
# data_file_path: "/home/mfourmy/Documents/Phd_LAAS/solo-estimation/data/Experiments_Replay_30_11_2020_bis/data_2020_11_30_17_18_format.npz" # sin
# data_file_path: "/home/mfourmy/Documents/Phd_LAAS/solo-estimation/data/Experiments_Replay_30_11_2020_bis/data_2020_11_30_17_22_format.npz" # walking
data_file_path: "/home/mfourmy/Documents/Phd_LAAS/solo-estimation/data/SinStamping_Corrected_09_12_2020/data_2020_12_09_17_54_format.npz" # sin
# data_file_path: "/home/mfourmy/Documents/Phd_LAAS/solo-estimation/data/SinStamping_Corrected_09_12_2020/data_2020_12_09_17_54_format.npz" # sin
# data_file_path: "/home/mfourmy/Documents/Phd_LAAS/solo-estimation/data/SinStamping_Corrected_09_12_2020/data_2020_12_09_17_56_format.npz" # stamping
# data_file_path: "/home/mfourmy/Documents/Phd_LAAS/solo-estimation/data/Experiments_Walk_17_12_2020/data_2020_12_17_14_25_format.npz" # point feet walk with corrected kinematics
# data_file_path: "/home/mfourmy/Documents/Phd_LAAS/solo-estimation/data/Experiments_Walk_17_12_2020/data_2020_12_17_14_29_format.npz" # point feet walk with corrected kinematics
data_file_path: "/home/mfourmy/Documents/Phd_LAAS/solo-estimation/data/Mesures_Contact/data_2021_01_19_17_11_format.npz" # Contact experiment with contact status and mocap leg kin
out_npz_file_path: "/home/mfourmy/Documents/Phd_LAAS/data/quadruped_experiments_results/out.npz"
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