On the real robot, we are using the height coming from the state estimator. But usually it's preferrable to use the proprioceptive height since it avoids drift in the z component.
Status: Not actively working on it, PR are welcome! Use this issue if you want any help.
On the real robot, we are using the height coming from the state estimator. But usually it's preferrable to use the proprioceptive height since it avoids drift in the z component.
Status: Not actively working on it, PR are welcome! Use this issue if you want any help.