search

TopHillRobotics / quadruped-robot

An Open Source Quadruped-Robot for Simulating and Real Environment
152 stars 30 forks source link

is current acc really needed ?? #40

Open elpimous opened 1 year ago

elpimous commented 1 year ago

hello, question is up ! qr_robot_a1.cpp

140,6: void qrRobotA1::ReceiveObservation()

for (int motorId = 0; motorId < NumMotor; motorId++) {

    motorAngles[motorId] = state.motorState[motorId].q;

    motorVelocities[motorId] = state.motorState[motorId].dq;

    **motorddq[motorId] = state.motorState[motorId].ddq;**  // current acc 

    motortorque[motorId] = state.motorState[motorId].tauEst;
}