State estimation of quadruped robot with joint angles and foot contact sensors

[eshafeeqe]

Hi,

Thanks for bringing this project to the community. I was able run the anymal robot state estimation example which required torque measurements of the robot. However we are experimenting with quadruped robot with just joint encoders and foot contact sensors.

I am wondering whether pronto can be used in such settings for quadrupedal robot ?

[mcamurri]

Dear @eshafeeqe yes if you don't necessarily need to use torque values. Those are necessary if you don't have a way to detect the contacts. You just need to implement the appropriate interfaces, see a relevant discussion here: ori-drs/pronto_anymal_example#20