How to access HighState while doing low level control?

unitreerobotics / unitree_legged_sdk

SDK tools for control robots.

BSD 3-Clause "New" or "Revised" License

269 stars 155 forks source link

How to access HighState while doing low level control? #113

Open sharathmatada opened 10 months ago

sharathmatada commented 10 months ago

Hi, I'm trying to do low-level control but would like to use the in-built state estimator and would like to access the variables in HighState to perform low level control. Any leads on this will be helpful

xyq1223 commented 9 months ago

Hello,we are very sorry that we do not support this at the moment.

heartInsert commented 5 days ago

@xyq1223 mate , do you know how to get /gazebo/model_states and /aliengo_gazebo/joint_states in a real robot ?