Tweak joystick references

include/qrw/Joystick.hpp

@@ -116,14 +116,14 @@ class Joystick {
 
   // Maximum velocity values
   double vXScale = 0.3;  // Lateral
-  double vYScale = 0.6;  // Forward
+  double vYScale = 0.5;  // Forward
   double vYawScale = 1.0;  // Rotation
 
   // Maximum position values
-  double pRollScale = 0.32;  // Lateral
-  double pPitchScale = 0.28;  // Forward
+  double pRollScale = -0.32;  // Lateral
+  double pPitchScale = -0.28;  // Forward
   double pHeightScale = 0.025;  // Forward
-  double pYawScale = 0.25;  // Rotation
+  double pYawScale = -0.35;  // Rotation
 
   // Variable to handle the automatic static/trot switching
   bool switch_static = false;

scripts/Controller.py

@@ -361,7 +361,7 @@ class Controller:
                 # self.p_ref[3, 0] = np.clip((self.k - 2000) / 2000, 0.0, 1.0)
                 self.xgoals[[3, 4], 0] = self.p_ref[[3, 4], 0]
                 self.h_ref = self.p_ref[2, 0]
-                hRb = pin.rpy.rpyToMatrix(0.0, 0.0, self.p_ref[3, 0] * 0.35)
+                hRb = pin.rpy.rpyToMatrix(0.0, 0.0, self.p_ref[5, 0])
                 # print(self.joystick.getPRef())
                 # print(self.p_ref[2])
             else: