Where could I find initial body height ?

[elpimous]

Hi friend, where could I find, in code, the body Z value on initial pose ? When we run bringup, robot is up on its legs. I'd like it to be sitted on ground (for a correct standup, with specific kp and kd) Thanks @grassjelly Vincent

[grassjelly]

you can add world_init_z here https://github.com/chvmp/champ/blob/master/champ_config/launch/gazebo.launch#L31

[elpimous]

Hey, @grassjelly happy to hear from you.. no does t work. Well how to have a robot sitted when first launch ? I have this:

And i'd like to have this :

Thanks Juan

[elpimous]

@grassjelly Hello, any up ? Need to start controller with a sitted down starting pose ( in real robot) Your above command doesn't produce any different result