Noisy RPY/Quaternion Output to Simulator IMU

Alan Nascimento
2026-03-26T00:03:30Z

The real T1 robot (and some inertial sensors) already provide an estimated RPY (roll, pitch, yaw) of the robot. In the simulator, we currently have a “cheat” orientation. I think it would make sense to have an official competition sensor that also returns RPY (or maybe a quaternion) with a noise model. This would make next year’s competition more realistic, as the league is currently planning on using the noiseless orientation from the simulator. In this matter, I don't think of this as a replacement for the accelerometer and gyroscope, and those would be informed along with the orientation estimate.