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unitreerobotics / unitree_legged_sdk

SDK tools for control robots.
BSD 3-Clause "New" or "Revised" License
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Quaternion ordering incorrect in high level mode #36

Open qw8z5fUB opened 2 years ago

qw8z5fUB commented 2 years ago

In a HighState message received from the sdk, we observe the imu.quaternion field is provided in ordering (x,y,z,w). This is contrary to the documented ordering in comm.h, and the ordering as received in LowState messages (w,x,y,z).

Environment:

Robot go1 edu HW 1.0.9
Software 0.1.35
Legged_sport version:1.36
unitree_legged_sdk version a5df2e4471b3c34 (with small local modifications).

Not a major issue for us, and potentially just a problem with our configuration/module versions, but thought I'd send a heads-up in case its a simple issue for you to fix in the high level controller.

TrivasZhang commented 2 years ago

Thanks! we will correct it in next version. It will be the same with low-level mode.