Adjusting Robot Height

[ydji]

Hi, if I need to adjust the robots' height in teleop.py, what parameters do I need to change? I tuned nominal_height but it's not working. Thx

[Juan Miguel Jimeno]

Hi,

You can change the robot height in this line. https://github.com/chvmp/champ_teleop/blob/master/champ_teleop.py#L109
The z value sent from the teleop is the required translation of the floating base from it's current height (nominal height). Current implementation only translates in the minus z axis https://github.com/chvmp/champ_teleop/blob/master/champ_teleop.py#L108 .

[ydji]

thank you for helping! I'm trying to send pose command directly to robots and however I didn't find a topic named body_pose/raw. The command I used was "rostopic list"

[Juan Miguel Jimeno]

If you want to control the robot's pose directly, you can use 'geometry_msgs/Pose' and publish to body_pose topic.
You can take a look at these lines https://github.com/chvmp/champ_teleop/blob/master/champ_teleop.py#L113-L122.

[Juan Miguel Jimeno]

Hey @YandongJi just wondering are you from Dogotix?

[ydji]

hmm, no, am senior student from Nankai University, China.

[yuetaoWei]

excuse me@YandongJi ,I am learning how to use the motor of Dogotix mechanical dog, do you have the specific information, is it convenient to exchange,my email is [e-mail] Even though I know this conversation has been over for a long time

[ydji]

Hi Yuetao, I don't have its information yet.

[yuetaoWei]

any way thank you to reply so quick,i decide to chang to use unitree motor