Go2 Locomotion Deployment¶
This page describes the retained go2_joystick_flat reference owner. Unitree
production deployment variants are documented by their ecosystem package.
Observation contract¶
Group |
Dim |
Source on hardware |
|---|---|---|
Base linear velocity |
3 |
state estimator (KF over IMU + leg odometry); NOT raw integration |
Base angular velocity |
3 |
IMU gyro |
Projected gravity |
3 |
IMU orientation |
Joystick command (vx, vy, ωz) |
3 |
operator input |
Joint positions |
12 |
encoder |
Joint velocities |
12 |
encoder velocity after the deploy controller’s filtering path |
Previous action |
12 |
last policy output |
Foot contact |
4 |
contact sensor or estimated from foot height |
State estimator caveat
The policy is trained against the observation terms emitted by the selected env owner. If deployment cannot provide the same base-velocity signal, train a variant whose actor observation matches the estimator you can run on the robot.