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Joystick Mapping #17

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whenwherewhy opened this issue Oct 10, 2024 · 0 comments
Open

Joystick Mapping #17

whenwherewhy opened this issue Oct 10, 2024 · 0 comments

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@whenwherewhy
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We noticed that the joystick mapping in the picture is different from the one in the program, with button ‘A ’corresponding to trotting. Is that true?
Program: go2_gym_deploy/unitree_sdk2_bin/lcm_position_go2.cpp # line232~248
go2_gym_deploy/utils/cheetah_state_estimator.py # line 195
By the way, after pressing the R2 key twice, the robot enters the RL control stage. At this time, sometimes the robot will have a small amplitude of lateral drift. Is this a normal phenomenon?
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@whenwherewhy