Added documentation and bug fixes during SURF 2025 (excluding D1 Arm code)#149
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eloisezeng wants to merge 78 commits intomainfrom
Open
Added documentation and bug fixes during SURF 2025 (excluding D1 Arm code)#149eloisezeng wants to merge 78 commits intomainfrom
eloisezeng wants to merge 78 commits intomainfrom
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…nally obelisk_mujoco_robot fails to shutdown after keyboard interrupt
…the arm in over 0.5 seconds
Zolkin1
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Sep 24, 2025
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Zolkin1
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Zolkin1
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Looking like a lot of really good changes that I had wanted fixed for a while. Thanks for this. I left a number of comments, so please address those or reply back and we can figure it out.
Also, Ruff (the python linter) had a few issues with the code so if you could fix those up that would be great.
| @@ -80,7 +80,8 @@ namespace obelisk { | |||
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| this->GetPublisher<unitree_controller_msg>(this->ctrl_key_)->publish(msg); | |||
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| RCLCPP_INFO_STREAM(this->get_logger(), "msg.u_mujoco.size*(): " << msg.u_mujoco.size()); // FIXME: This is 81 but should be 87 | |||
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When I launched g1_cpp.yaml, the number of control inputs did not match the number of joints in the G1 mujoco model. Thus, an error message was raised. I added the log statement as a reminder to debug this issue.
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