search

unitreerobotics / unitree_legged_sdk

SDK tools for control robots.
BSD 3-Clause "New" or "Revised" License
287 stars 160 forks source link

About the length of motorState and the position in HighState #112

Open gyt290811 opened 1 year ago

gyt290811 commented 1 year ago

Hello, the robot has only 12 motors and why the length of motorState is 20? std::array<MotorState, 20> motorState; How do I know which joint motor's state corresponds to each part in the motorState? Is their order the same as in quadruped.h? What are the remaining eight variables in motorState? After starting the robot, I control it to move backward, but the position[0] is showing a positive value. What may cause this problem? 2023-08-26 22-55-45屏幕截图

xyq1223 commented 1 year ago

Hello, regarding motorState ， we actually only use twelve, and the last eight are reserved bits, so you don’t need to worry about it.