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fixeed a bug on the negation of the unitree buttons as well as added … #157

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Merged
Zolkin1 merged 1 commit into from
Jan 14, 2026
Merged

fixeed a bug on the negation of the unitree buttons as well as added … #157

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8 changes: 7 additions & 1 deletion docs/source/unitree_interfaces.md
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Original file line number Diff line number Diff line change
Expand Up @@ -97,4 +97,10 @@ Note that to avoid conflicts between `button` indices and `axis` indices (and is
2. Turn the robot on.
3. Once robot signifies ready state (zero torque mode on G1 humanoid, standing up on Go2 quadruped), run fsm.
4. Start with INIT -> DAMPING, and follow up with DAMPING -> USER_POSE (for the G1), or proceed directly with INIT -> USER_POSE (for the Go2).
5. Proceed with USER_POSE -> USER_CTRL for user defined controllers.
5. Proceed with USER_POSE -> USER_CTRL for user defined controllers.

## Debugging
You can also check what the default button mappings are by running:
```
obk-launch config=unitree_fsm_debug.yaml device=onboard
```
10 changes: 5 additions & 5 deletions obelisk/cpp/hardware/include/unitree_joystick.h
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Expand Up @@ -45,8 +45,8 @@ namespace obelisk {
Y1 = static_cast<int>(Y) + LAYER_OFFSET,
A1 = static_cast<int>(A) + LAYER_OFFSET,
B1 = static_cast<int>(B) + LAYER_OFFSET,
DR1 = static_cast<int>(DL) + LAYER_OFFSET,
DL1 = static_cast<int>(DR) + LAYER_OFFSET,
DR1 = static_cast<int>(DR) + LAYER_OFFSET,
DL1 = static_cast<int>(DL) + LAYER_OFFSET,
DU1 = static_cast<int>(DU) + LAYER_OFFSET,
DD1 = static_cast<int>(DD) + LAYER_OFFSET,
};
Expand Down Expand Up @@ -325,9 +325,9 @@ namespace obelisk {
// DPAD lives in axes; positive/negative handled via sign in detection
int ax = code - AXIS_OFFSET;
// For negative variants (Left/Down), normalize like getButton() does
if (code == static_cast<int>(ButtonMap::DL) ||
if (code == static_cast<int>(ButtonMap::DR) ||
code == static_cast<int>(ButtonMap::DD) ||
code == static_cast<int>(ButtonMap::DL1) ||
code == static_cast<int>(ButtonMap::DR1) ||
code == static_cast<int>(ButtonMap::DD1)) {
ax -= NEG_OFFSET; // mirror your detection
}
Expand Down Expand Up @@ -391,7 +391,7 @@ namespace obelisk {
}
if (on_dpad) {
int sgn = 1;
if (btn == static_cast<int>(ButtonMap::DL) || btn == static_cast<int>(ButtonMap::DD) || btn == static_cast<int>(ButtonMap::DL1) || btn == static_cast<int>(ButtonMap::DD1)) {
if (btn == static_cast<int>(ButtonMap::DR) || btn == static_cast<int>(ButtonMap::DD)) {
btn -= NEG_OFFSET;
sgn = -1;
}
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2 changes: 1 addition & 1 deletion obelisk/cpp/hardware/robots/unitree/unitree_interface.h
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Expand Up @@ -206,7 +206,7 @@ namespace obelisk {
RCLCPP_INFO_STREAM(this->get_logger(), "EXECUTION FSM STATE TRANSITIONED TO " << TRANSITION_STRINGS.at(exec_fsm_state_));
} else {
if (exec_fsm_state_ == cmd_exec_fsm_state) {
RCLCPP_INFO_STREAM(this->get_logger(), "EXECUTION FSM AREADY IN COMMANDED STATE " << TRANSITION_STRINGS.at(exec_fsm_state_));
RCLCPP_INFO_STREAM(this->get_logger(), "EXECUTION FSM ALREADY IN COMMANDED STATE " << TRANSITION_STRINGS.at(exec_fsm_state_));
} else {
RCLCPP_ERROR_STREAM(this->get_logger(), "EXECUTION FSM COMMAND INVALID: " << TRANSITION_STRINGS.at(exec_fsm_state_) << " -> " << TRANSITION_STRINGS.at(cmd_exec_fsm_state));
}
Expand Down