chip updates: ideas for walking [updates]
So now that we have full platform-level state estimation we can start thinking a little about walking. Of course we still need to find the (xyz) foot positions in local coordinate frame and we will do that today but first...
When it comes to walking if we want to do the kind of walking described above, we probably are going to have to generate platform-level trajectories that include things like yaw and the current foot positions. Like at each time-step we will have to generate the next step based on the current state to achieve walking. Not simply a feed-forward step pattern.
Figuring out footpos:
start by using the rotation matrix to find each of the corner points
then use the simulator to get the location of the foot
subtract the foot location from the corner point and account for rotation to get the xyz pos of the foot in the leg frame