Lay down starting pose - Githubissues

OpenQuadruped / spot_mini_mini

Dynamics and Domain Randomized Gait Modulation with Bezier Curves for Sim-to-Real Legged Locomotion.

https://moribots.github.io/project/spot-mini-mini

MIT License

800 stars 171 forks source link

Lay down starting pose #10

Open Quothd opened 3 years ago

Quothd commented 3 years ago

ocation? mini_ros\src\mini_ros\teleop.cpp

Example: Line 62 - Switch Trigger: Button A (having a different button control lay down / stand up)

Idea: Would it be possible to add another button command to direct spot to lay down (the positions are in the teensy code already - but would it be possible to transition from a standing state to a laying down state through a controller button press? (similar to the BD spot) spot mini could start laying down and stand up on controller button press.

moribots commented 3 years ago

That's a great idea, and it'll make shutdown a lot easier too! I'll start working on this soon.