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jsk-ros-pkg / jsk_robot

jsk-ros-pkg/jsk_robot
https://github.com/jsk-ros-pkg/jsk_robot
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[unitree] Add lead teleop documentation #1910

Closed iory closed 2 months ago

iory commented 2 months ago

For unitree users, I added documentation for lead teleop.

tkmtnt7000 commented 2 months ago

I am sorry and thank you very much for making leadteleop documentation. I think it’s ok.

iory commented 2 months ago

Thank you for the review! Since @a-ichikura is the current core user, we will wait for her review from her perspective.

a-ichikura commented 2 months ago

Thank you for your editing the README. If I understand correctly, the press Button colors and functions are slightly different.

<!DOCTYPE html> Button Presses LED Color Action Description
1 press Blue Sit Unitree sits and will not walk.
2 presses Green Stand Unitree stands up and is able to walk.
3 presses Yellow - -
4 presses White Disable movement Unitree stops moving.
5 presses Purple Enable movement Unitree is able to move again.

*normal color is Red (the robot is just standing).

I cannot infer the 4 presses(yellow) function. What is it for?

iory commented 2 months ago
Button Presses LED Color Action Description
0 presses Red no action Unitree is just standing.
1 press Blue Sit Unitree sits and will not walk.
2 presses Green Stand Unitree stands up and is able to walk.
3 presses Yellow no action no action
4 presses White Disable movement Unitree stops moving.
5 presses Purple Enable movement Unitree is able to move again.

Thank you. I fixed the table.

I cannot infer the 4 presses(yellow) function. What is it for?

The "3 presses" option is intentionally unassigned to prevent accidental presses since "4 presses" disables movement.