Merge pull request #32 from NVlabs/gear-sonic

Crawling keyboard + docs update

docs/source/getting_started/vr_teleop_setup.md

@@ -98,21 +98,6 @@ source .venv_teleop/bin/activate   # prompt: (gear_sonic_teleop)
 
 ## Step 4: Connect the PICO to Your Workstation
 
-:::{important}
-Before connecting the PICO, you must first launch the teleop streamer on your workstation so the PC Service has something to connect to:
-
-```bash
-source .venv_teleop/bin/activate
-python gear_sonic/scripts/pico_manager_thread_server.py --manager \
-    --vis_vr3pt --vis_smpl
-```
-
-Leave this running in a terminal throughout the setup steps below. This is part of the [VR Whole-Body Teleop tutorial](../tutorials/vr_wholebody_teleop.md).
-
-If the PICO cannot reach your workstation, check your firewall — disable it or add a rule to allow the XRoboToolkit port.
-:::
-
-
 1. Open the Wi-Fi settings on both the laptop/PC and PICO and ensure they are on the **same Wi-Fi network**. Take note of the Wi-Fi IPv4 address.
    - To find the PICO's Wi-Fi, select the control center on the bottom right of the menu.
 
@@ -139,7 +124,6 @@ If the PICO cannot reach your workstation, check your firewall — disable it or
 :align: center
 ```
 
-
 ---
 
 ## Next Steps

docs/source/tutorials/keyboard.md

@@ -186,8 +186,8 @@ Height adjustable with **`-`** / **`=`** (0.2–0.8 m). Initial height defaults
 | **1** | Squat | static |
 | **2** | Kneel (Two Legs) | static |
 | **3** | Kneel (One Leg) | static |
-| **4** | Hand Crawling | 0.4–1.5 m/s |
-| **5** | Elbow Crawling | 0.7–1.5 m/s |
+| **4** | Hand Crawling | 0.4–1.0 m/s |
+| **5** | Elbow Crawling | 0.7–1.0 m/s |
 
 <div style="display: grid; grid-template-columns: 1fr 1fr 1fr; gap: 1em; margin: 1em 0;">
 <figure style="margin: 0;">

docs/source/tutorials/vr_wholebody_teleop.md

@@ -66,7 +66,7 @@ python gear_sonic/scripts/pico_manager_thread_server.py --manager \
 # python gear_sonic/scripts/pico_manager_thread_server.py --manager
 ```
 
-When you turn on the visualization, wait for a window to pop up showing a Unitree G1 mesh with all joints at the default angles. If no window shows up, double-check the PICO's XRoboToolKit IP configuration in the [VR Teleop Setup](../getting_started/vr_teleop_setup.md). If no window shows up and the script says "Waiting for body tracking data" and you have trackers on, then recalibrate your pico trackers. 
+When you turn on the visualization, wait for a window to pop up showing a Unitree G1 mesh with all joints at the default angles. If no window shows up, double-check the PICO's XRoboToolKit IP configuration in the [VR Teleop Setup](../getting_started/vr_teleop_setup.md).
 
 ### Your First Teleop Session
 

gear_sonic_deploy/src/g1/g1_deploy_onnx_ref/include/input_interface/keyboard_handler.hpp

@@ -272,10 +272,10 @@ class SimpleKeyboard : public InputInterface {
                 planner_use_movement_speed = std::min(planner_use_movement_speed, 3.0);
               } else if (planner_use_movement_mode == LocomotionMode::CRAWLING) {
                 planner_use_movement_speed = std::max(planner_use_movement_speed, 0.4);
-                planner_use_movement_speed = std::min(planner_use_movement_speed, 1.5);
+                planner_use_movement_speed = std::min(planner_use_movement_speed, 1.0);
               } else if (planner_use_movement_mode == LocomotionMode::ELBOW_CRAWLING) {
                 planner_use_movement_speed = std::max(planner_use_movement_speed, 0.7);
-                planner_use_movement_speed = std::min(planner_use_movement_speed, 1.5);
+                planner_use_movement_speed = std::min(planner_use_movement_speed, 1.0);
               } else if (planner_use_movement_mode == LocomotionMode::WALK_BOXING || 
                           planner_use_movement_mode == LocomotionMode::LEFT_PUNCH || 
                           planner_use_movement_mode == LocomotionMode::RIGHT_PUNCH ||