Float value in foot force

[cyoahs]

Hello.

From the bags I suppose that the effort in /hardware_a1/joint_foot is the foot force from LowState, but those values are of int16 type in unitree sdk and often postive. I found negative float values in the bag. Is there any conversions not included in this repo?

[ShuoYangRobotics]

I just converted int16 to float directly. They can be negative because when the foot restores it’s shape the pressure is smaller than nominal value.

[cyoahs]

I just converted int16 to float directly. They can be negative because when the foot restores it’s shape the pressure is smaller than nominal value.

Got it! ^-^