need help about default robot joints order

[elpimous]

Hello all, i'm fighting for long months with the controller and my own robot, homemade one.

Could anyone confirm me the following things :

1/ in https://github.com/qiayuanliao/legged_control/blob/e2d920698bc87172002e66e478f7629a06be3c6f/legged_examples/legged_unitree/legged_unitree_hw/src/UnitreeHW.cpp#L73C54-L73C54, jointData_[i] order is FR, FL, HR, HL, correct ?

it seems to confirm this order : https://github.com/qiayuanliao/legged_control/blob/e2d920698bc87172002e66e478f7629a06be3c6f/legged_examples/legged_unitree/legged_unitree_hw/src/UnitreeHW.cpp#L89-L96

2/ All my motors are clockwise so, looking at those values : https://github.com/qiayuanliao/legged_control/blob/e2d920698bc87172002e66e478f7629a06be3c6f/legged_controllers/config/a1/reference.info#L8-L19 , i should use those directions, correct ? : FL haa (-) FL hfe (-) FL kfe (-)

HL haa (-) HL hfe (-) HL kfe (-)

FR haa (+) FR hfe (+) FR kfe (+)

HR haa (-) HR hfe (+) HR kfe (+)

3/ why this reference order isn't the same as the controller jointData_ one ?

Thanks a lot friends. Vincent

[elpimous]

solved.