How do I use the gyroscope of the robot khr3hv ？

[hbuxiaofei]

The robot khr3hv doesn't seem to have a gyroscope.

[ShuffleWire]

in the proto of the khr3hv, i can read

      DEF KHR3HV_Accelerometer Pose {
        translation -0.0833 0.0345 0.0
      }
      DEF KHR3HV_Gyro Pose {
        translation -0.0833 0.0345 -0.024
      }

Which indicate that their are no actual accelerometer nor gyroscope on the bot. What about adding them ? @omichel Replacing the previous code by

      DEF KHR3HV_Accelerometer Accelerometer {
        translation -0.0833 0.0345 0.0
      }
      DEF KHR3HV_Gyro Gyro {
        translation -0.0833 0.0345 -0.024
      }

should make it, at least for the OP usage just checked but the khr2hv don't suffer the same problem, but maybe other could, idk

[omichel]

Yes, feel free to propose a patch for this.