Support for high-level control in sim

[RayYoh]

Hi, thanks for your work. Does current version just supports low-level control? I have tried the high-level control code in unitree_sdk2_python, sportmode_test, it occurs error.

[wuyangning]

Hi, thanks for your work. Does current version just supports low-level control? I have tried the high-level control code in unitree_sdk2_python, sportmode_test, it occurs error.

You are right.
Unitree mujoco is mainly provided to users for sim to real verification of their control algorithms, so current version only provides basic support of:

• sensor data (IMU, joint position, joint velocity).
• wireless controller (Simulate using an Xbox controller).
• motor control.