A Few Utility Tools

Dog Tracer for Log Inspection

In our prior work, we implemented an initial version of dog tracer for inspecting proprioceptive data. In this repo, we extend the capability of dog tracer to visualize the depth image and estimated heightmap jointly with proprioception.

You can start the dog tracer by running:

python -m src.utils.dog_tracer.dog_tracer

Camera Latency Calibration

src/utils/go1_camera_calibration executes sinusoidal body height motions and records the depth image as well as body proprioception data. We then use the recorded data to plot the body height estimation from camera and from proprioception, which allows us to measure perception latencies.

Motor Calibration

src/utils/go1_motor_calibration executes open-loop torque command to the rear-left knee of the robot. We then measure the output torque and compare it with the torque command.