MOT-9 Walking Mode
| Domain | motion | Module | Walking v1 |
|---|---|---|---|
| Priority | high | Automated | no |
| Tags | — | Requires | — |
| Depends on | NET-6 (pass), MCT-3 (pass), MCT-5 (pass), MCT-6 (pass) | ||
Preconditions
Robot turned on and all Preflight done
Steps
- Switch mode: press ""long A"" + Y
- Lift single wheels as before with the arrows
- left joystick makes the robot move by walking. The walking sequence depend on the commanded direction
- right joystick is disabled in this mode (not turning in place)
- From the right steamdeck options, switch between HQP and COMPOSITE
- Max velocity and forward direction can also be chosen in the steamdeck options as before"
Expected
- The robot should be able to switch walking to rolling or vice versa from any posture
- When lifting single wheels, the robot should tilt and lift the wheel in place
- HQP and COMPOSITE might work slightly different,
- Higher velocities will produce longer steps"
Notes
- Automation approach (planned): SDK motion command
- Reason / caveat: Walking-mode switch and locomotion are SDK-commandable; currently FAILing and uses physical inputs.
- Repo-verified: Confirmed: walking-mode switch commandable; currently FAIL. Stays Partial.