Cannot find the file unitree_sdk2_bridge.cc for Joystick mapping

[EveryDayIsaSong]

I am trying to configure a custom gamepad layout (non-Xbox/Switch) following the instructions in the README.
The README states:

If your gamepad is not in Xbox or Switch layout, you can modify it in the source code... In simulate/src/unitree_sdk2_bridge/unitree_sdk2_bridge.cc

However, in the latest version of the repository, the directory simulate/src/unitree_sdk2_bridge/ and the file unitree_sdk2_bridge.cc do not exist.

In simulate/src/, I can only find unitree_sdk2_bridge.h (but no .cc file). Could you please clarify which file handles the Joystick/Gamepad key mapping now? Is it moved to simulate/src/physics_joystick.h or inside the joystick folder? The documentation seems to be outdated.

[mastersamuke]

In simulate/src/, I can only find unitree_sdk2_bridge.h (but no .cc file). Could you please clarify which file handles the Joystick/Gamepad key mapping now? Is it moved to simulate/src/physics_joystick.h or inside the joystick folder? The documentation seems to be outdated.

It looks like the layouts are defined in physics_joystick.h. That being said, I can't seem to get it to work even with the supported joysticks.

[jhzioeng]

the same issue for me.

[jhzioeng]

the same issue for me.

After comparing with the button mapping in physics_joystick.h, I found that the button values of my Xbox controller are actually the same as those for the Switch, not the Xbox. In the config.yaml file of unitree_mujoco, setting joystick_type to "switch" instead of "xbox" solved the problem, even though my controller is a genuine Xbox controller.

[jhzioeng]

In simulate/src/, I can only find unitree_sdk2_bridge.h (but no .cc file). Could you please clarify which file handles the Joystick/Gamepad key mapping now? Is it moved to simulate/src/physics_joystick.h or inside the joystick folder? The documentation seems to be outdated.

It looks like the layouts are defined in physics_joystick.h. That being said, I can't seem to get it to work even with the supported joysticks.

You can try if it works for you.