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chvmp / champ

MIT Cheetah I Implementation
BSD 3-Clause "New" or "Revised" License
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Body control #79

Closed ujjdaniel closed 2 years ago

ujjdaniel commented 2 years ago

Hi! I would like to ask, where can i find part of the code for only body control, like there is pictured on the bottom middle gif in your README, where robot isn´t moving his feet, but only body ? Is that applied in body_controller.h ? Could you help me how can i use it to reach the goal moving robot like u are on that specific gif ? (second row of gifs, in the middle)

grassjelly commented 2 years ago

You can send send a sine function on roll pitch and yaw on body_pose topic (geometry_msgs/Pose). The body control code can be found here: https://github.com/chvmp/libchamp/blob/master/body_controller/body_controller.h#L57-L94

ujjdaniel commented 2 years ago

Thanks for your help!