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This document provides a detailed technical deep dive into the motion tracking controller, including: - Architecture and design overview - Component breakdown (MotionTrackingController, MotionOnnxPolicy, MotionCommand, MotionObservation) - Robot API access through legged_control2 framework - Observation system and coordinate transformations - ONNX model integration and inference pipeline - Complete data flow from robot state to commands - Configuration details and API reference - Debugging tips and common use cases This documentation serves as an onboarding guide for new developers working with the motion tracking controller.
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This document provides a detailed technical deep dive into the motion tracking controller, including:
This documentation serves as an onboarding guide for new developers working with the motion tracking controller.