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2/2 Use odom topic with velocity and add noise model on top - #4
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rt/odometer_state and rt/odom published the base's ground truth, while the real K1's odometry is the controller's estimate and drifts, so localisation in sim saw better odometry than it will on the robot. OdometryModel corrupts the planar body velocity (vx, vy, wz) with a scale error, white noise and a random-walk bias, and integrates the odometry pose from it, so both topics carry the same consistent estimate. The noise terms are densities, so the drift is independent of the publish rate. Configured in config/odometry.yaml, off by default with untuned placeholder values; with it off the output is unchanged. Co-Authored-By: Claude Opus 5 <noreply@anthropic.com> Claude-Session: https://claude.ai/code/session_014yZBRrPMFAxdS4A93XWANS
A random-walk bias grows without bound, so a long sim session drifted more than a short one, and a recording could not pin it down: the bias accumulated since the recording started shows up as its own error growth. Model it instead as a first-order Gauss-Markov process with a standard deviation and a time constant, stationary from the first sample, whose pose error over a window of T seconds has the closed form s^2 T + 2 b^2 tau^2 (T/tau - 1 + exp(-T/tau)) that a recording with motion capture can be fitted to. Co-Authored-By: Claude Opus 5 <noreply@anthropic.com> Claude-Session: https://claude.ai/code/session_014yZBRrPMFAxdS4A93XWANS
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jpptm
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Oct 2, 2026
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I changed it but it required bumping the CXX_STANDARD to 20 from 17. lmk if you want this reverted and I'll go back to kPi. |
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Looks good, just the newline at the end and it can go in straight away
The file holds a machine-specific cmake.sourceDirectory path and was committed by accident. It stays on disk locally; only the tracking is removed. Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com> Claude-Session: https://claude.ai/code/session_01VEGnPqynL7mkSCLuvyBvuh
No conflicts. Brought in main's SimCore.cpp/.hpp changes and the removal of mujoco/tools/walk_surface_sweep.py; all merged automatically. .vscode/settings.json stays untracked on this branch (see previous commit). Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com> Claude-Session: https://claude.ai/code/session_01VEGnPqynL7mkSCLuvyBvuh
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This builds on PR #3 by adding a noise model of the form$v_{est} = scale * v_{true} + bias + white noise$ to make it more true to real.
TODO: still need to verify it actually works. And look into other methods of corruption