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Improbable-AI / walk-these-ways

Sim-to-real RL training and deployment tools for the Unitree Go1 robot.
https://gmargo11.github.io/walk-these-ways/
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Joystick Mapping #84

Open whenwherewhy opened 2 weeks ago

whenwherewhy commented 2 weeks ago

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: go1_gym_deploy/unitree_legged_sdk_bin/lcm_position.cpp # line148~164 go1_gym_deploy/utils/cheetah_state_estimator.py # line 193

whenwherewhy commented 2 weeks ago

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