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unitreerobotics / unitree_legged_sdk

SDK tools for control robots.
BSD 3-Clause "New" or "Revised" License
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Go1 motor angle feedback inaccurate #58

Open echoGee opened 1 year ago

echoGee commented 1 year ago

Is the angle feedback returned by the motors in this message https://github.com/unitreerobotics/unitree_ros_to_real/blob/master/unitree_legged_msgs/msg/MotorState.msg based on an absolute encoder or relative encoder ? If its relative, what is q=0 initialized as ? The angle reported seem to be different after every boot.

JonasFovea commented 1 year ago

I can only give you a guess, but I think it's relative encoding, which is set to zero at the startup of the robot.

We once angled a hind leg slightly while starting the robot, which resulted in the leg being completely off and therefore the robot being unbalanced and so on...

xyq1223 commented 1 year ago

Hello,our robot dog uses a single-turn absolute encoder

JonasFovea commented 1 year ago

@xyq1223

But that doesn't correspond to the behaviour of the robot. If it was absolute, the behaviour shouldn't be determined by the motor positions at startup...