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unitreerobotics / unitree_legged_sdk

SDK tools for control robots.
BSD 3-Clause "New" or "Revised" License
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Velocity and Position for LowState #51

Open Kashu7100 opened 2 years ago

Kashu7100 commented 2 years ago

Is there any way to get velocity and position information for LowLevel control like HighState? If not, is there any recommended way to obtain those through the program?

Sincerely,

Kashu7100 commented 2 years ago

Or is there a way to receive HighState while using LowCommand?

dhruvmetha commented 1 year ago

I want a similar thing where I need the LowCommand being applied as per the HighCommand

xyq1223 commented 1 year ago

I'm sorry that these two parameters are not used in our lowlevel control, you can refer to this link to view the return value in LowState. https://github.com/unitreerobotics/unitree_legged_sdk/blob/master/include/unitree_legged_sdk/comm.h