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[N/A] Expose height in Spot_Wrapper velocity command #147

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merged 1 commit into from
Oct 18, 2024
Merged

[N/A] Expose height in Spot_Wrapper velocity command #147

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13 changes: 12 additions & 1 deletion spot_wrapper/wrapper.py
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Original file line number Diff line number Diff line change
Expand Up @@ -1299,7 +1299,7 @@ def get_mobility_params(self) -> spot_command_pb2.MobilityParams:
return self._mobility_params

def velocity_cmd(
self, v_x: float, v_y: float, v_rot: float, cmd_duration: float = 0.125
self, v_x: float, v_y: float, v_rot: float, cmd_duration: float = 0.125, body_height: float = 0.0
) -> typing.Tuple[bool, str]:
"""

Expand All @@ -1311,11 +1311,22 @@ def velocity_cmd(
v_rot: Angular velocity around the Z axis in radians
cmd_duration: (optional) Time-to-live for the command in seconds. Default is 125ms (assuming 10Hz command
rate).
body_height: Offset of the body relative to nominal stand height, in metres

Returns:
Tuple of bool success and a string message
"""
end_time = time.time() + cmd_duration
if body_height:
current_mobility_params = self.get_mobility_params()
height_adjusted_params = RobotCommandBuilder.mobility_params(
body_height=body_height,
locomotion_hint=current_mobility_params.locomotion_hint,
stair_hint=current_mobility_params.stair_hint,
external_force_params=current_mobility_params.external_force_params,
stairs_mode=current_mobility_params.stairs_mode,
)
self.set_mobility_params(height_adjusted_params)
response = self._robot_command(
RobotCommandBuilder.synchro_velocity_command(v_x=v_x, v_y=v_y, v_rot=v_rot, params=self._mobility_params),
end_time_secs=end_time,
Expand Down