vy and yaw commands didn't behave as expected

[xkhainguyen]

Hi,

Thanks for the great work!

I was able to run the MuJoCo simulation. However I observed:

1. vy and yaw commands only worked if vx is non-zero?
2. vx command is in global frame, not body frame? The robot always tried to execute vx at zero yaw (wrt global frame).

Is it expected?

Best.

[RexSkywalkerLee]

1. Hi, for the vy and yaw commands to work, you only need to keep the gait cycle running. In our script, we only start the gait cycle when vx is non-zero, but it is not necessary.
2. The vx command is in the local frame.