bdaiinstitute / spot_wrapper / 11408479074

44%

push

github

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

## Change Overview

This change enables dynamic height changes for teleop during the Drive-A-Spot demo. It adds an optional body_height parameter for the velocity_cmd function in Spot Wrapper.

## Testing Done

This change has been tested on Spot.

## Instructions for Reviewers

- Certify that this change is following [our dependency rules][1].
- Certify that the author has filled in the testing section with appropriate testing:
  * [Spot testing][2] for PRs touching Spot functionality, including the list of functions tested.
  * [Open AI testing][3] for PRs touching code that calls Open AI functions, including a list of tests done. For example, did they test dry, canned, AND online?
  * [ROS 2 testing][4] for PRs that use ROS 2 and that their ROS 2 tests use the `domain_coordinator` to prevent port conflicts.
- For changes to docker, take a look at [docker testing][5]

[1]: https://github.com/bdaiinstitute/bdai#dependency-rules
[2]: https://github.com/bdaiinstitute/bdai/blob/main/hil_testing.md
[3]: https://github.com/bdaiinstitute/bdai/blob/main/open_ai_testing.md
[4]: https://github.com/bdaiinstitute/bdai/blob/main/ros_testing.md
[5]: https://www.notion.so/theaiinstitute/Docker-Testing-9e6e03d4f0614103902f017a42ec0fb3

1 of 4 new or added lines in 1 file covered. (25.0%)

1869 of 4577 relevant lines covered (40.83%)

0.41 hits per line