Joystick does not move Go2

[tamutamuto]

Overview

I read the README as saying that setting USE_JOYSTICK = 1 allows controlling Go2 with a joystick.
However, in reality, the joystick input was not reflected in the movement of the robot..

To confirm this issue, I added a debug print() statement in unitree_sdk2py_bridge.py and verified that joystick input is correctly being received.

Actual Behavior

🔹 Steps to Reproduce

1. Set USE_JOYSTICK = 1 in simulate_python/config.py
2. Run python3 unitree_mujoco.py
3. Operate the joystick
4. Add a debug print() statement in PublishWirelessController() in unitree_sdk2py_bridge.py
5. Confirm that joystick input is received but the robot does not move at all

Added Debug Code**

I added the following debug print() statement in PublishWirelessController() in unitree_sdk2py_bridge.py:

def PublishWirelessController(self):
    if self.joystick is not None:
        pygame.event.get()
        
        key_state = [0] * 16
        key_state[self.key_map["R1"]] = self.joystick.get_button(self.button_id["RB"])
        key_state[self.key_map["L1"]] = self.joystick.get_button(self.button_id["LB"])
        key_state[self.key_map["start"]] = self.joystick.get_button(self.button_id["START"])
        key_state[self.key_map["select"]] = self.joystick.get_button(self.button_id["SELECT"])
        key_state[self.key_map["R2"]] = (self.joystick.get_axis(self.axis_id["RT"]) > 0)
        key_state[self.key_map["L2"]] = (self.joystick.get_axis(self.axis_id["LT"]) > 0)
        key_state[self.key_map["F1"]] = 0
        key_state[self.key_map["F2"]] = 0
        key_state[self.key_map["A"]] = self.joystick.get_button(self.button_id["A"])
        key_state[self.key_map["B"]] = self.joystick.get_button(self.button_id["B"])
        key_state[self.key_map["X"]] = self.joystick.get_button(self.button_id["X"])
        key_state[self.key_map["Y"]] = self.joystick.get_button(self.button_id["Y"])
        key_state[self.key_map["up"]] = self.joystick.get_hat(0)[1] > 0
        key_state[self.key_map["right"]] = self.joystick.get_hat(0)[0] > 0
        key_state[self.key_map["down"]] = self.joystick.get_hat(0)[1] < 0
        key_state[self.key_map["left"]] = self.joystick.get_hat(0)[0] < 0

        key_value = 0
        for i in range(16):
            key_value += key_state[i] << i

        self.wireless_controller.keys = key_value
        self.wireless_controller.lx = self.joystick.get_axis(self.axis_id["LX"])
        self.wireless_controller.ly = -self.joystick.get_axis(self.axis_id["LY"])
        self.wireless_controller.rx = self.joystick.get_axis(self.axis_id["RX"])
        self.wireless_controller.ry = -self.joystick.get_axis(self.axis_id["RY"])

        # Output joystick state here
        print(f"Joystick State:")
        print(f"  LX: {self.wireless_controller.lx:.2f}, LY: {self.wireless_controller.ly:.2f}")
        print(f"  RX: {self.wireless_controller.rx:.2f}, RY: {self.wireless_controller.ry:.2f}")
        print(f"  Keys: {bin(self.wireless_controller.keys)}")

        self.wireless_controller_puber.Write(self.wireless_controller)

Actual Output (When Moving Joystick)

After running this code, I confirmed that joystick input is correctly received when I moved the joystick, as shown below:

Joystick State:
  LX: 0.00, LY: 1.00
  RX: 0.00, RY: 0.00
  Keys: 0b0
Joystick State:
  LX: 0.00, LY: 1.00
  RX: 0.00, RY: 0.00
  Keys: 0b0
Joystick State:
  LX: 0.00, LY: 1.00
  RX: 0.00, RY: 0.00
  Keys: 0b0
Joystick State:
  LX: 0.00, LY: 1.00
  RX: 0.00, RY: 0.00
  Keys: 0b0
Joystick State:
  LX: 0.00, LY: 1.00
  RX: 0.00, RY: 0.00
  Keys: 0b0
Joystick State:
  LX: 0.00, LY: 1.00
  RX: 0.00, RY: 0.00
  Keys: 0b0

Despite receiving joystick input, the robot does not move.

Issue

PublishWirelessController() only sends data to rt/wireless_controller and does not affect the LowCmd controlling the robot.
I think the README misleads users into thinking that enabling the joystick allows direct control of the robot.
I also couldn't find any reports of anyone successfully moving Go2 using the joystick.

Request

The README is misleading and should be corrected to clarify that enabling USE_JOYSTICK = 1 does not allow direct control of the robot.
If joystick support for robot movement is planned, it would be helpful to update the documentation accordingly.