Drive lab · sim only · dry-run

Drive Limit

W / S to walk, A / D to turn. The camera is a third-person rig locked to the dog — drag to orbit, scroll to zoom on Limit. Every control below maps to a real command the robot understands.

drag orbit · scroll zooms on Limit
LOADING LIMIT
loading model…

How to use

Drive

W / S / A / D

Walk forward or back, turn left or right. The gait animation engages while a key is held and settles back to idle on release. Speed and turn rate are adjustable in the drive controls below.

Camera

Third-person follow

The camera tracks Limit, not a point on the floor — the zoom target updates with every step. Switch to free orbit to look around, or top-down to watch the path from above.

Safety

E-stop & reset

Engage the e-stop and Limit stops where it stands — exactly what 0x0205 CTRL_ESTOP does on the wire. Reset returns it to the origin pose. Both are logged to the event feed.

Sim state live readout · dry-run

What the dog reports right now — the same values a real session would report back.

state
idle
robot_state.mode / estop
pos
0.0, 0.0
robot_state.pos_x / pos_z (m)
heading
0°
robot_state.quat_y / sim
speed
0.0 u/s
robot_state.vel_x (sim)

Drive controls sim

Live simulator parameters — these drive the scene above in real time.

Control panel dry-run

Field → command mapping — every control below is a real robot command in dry-run.

— command / event feed (simulated) —
Field → command mapping, dry-run