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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

Add params in launch file, to be able to control some robot specs #12

Closed elpimous closed 3 years ago

elpimous commented 3 years ago

The use of params in ROS launchfile could help change some values in poses or walk specs :

moribots commented 3 years ago

Thanks Vincent! There is already a ros param for selecting your policy. Step length is controlled by pushing the right joystick forward, and step velocity is controlled by the bottom left and right bumpers (See README)

I will add ones for your other requested features now.

elpimous commented 3 years ago

very reactive, Thanks Maurice !

moribots commented 3 years ago

I've just made the changes. You can modify everything that contributes to Spot's motion in the mini_ros/config/ directory (link)

Give it a shot and let me know what you think!

Commit: 708c4769547660adf2646db44bdde33915288b63

elpimous commented 3 years ago

Hey, Maurice !! Nearly perfect ! Perhaps could you add :