Open TextZip opened 1 year ago
Adding on I just found out today that the dq_raw
values from the state.MotorState
are also zero, are all raw values zero..? or is there a different way to access them ..?
Hello, footForceEst is a reserved value, the default value is 0. About the values of state.footForce,please download the latest version of this SDK and run the program again,you will be able to see the data. https://github.com/unitreerobotics/unitree_legged_sdk/tree/go1
What's the difference between
footForce
andfootForceEst
inLowState
(low level feedback)I am able to print and observe the values of
state.footForce
and they seem to more or less change when the foot is pressed against a surface but the values fromstate.footForceEst
are always zero.Am I missing something here? I am not able to directly use values from
state.footForce
in my policy to detect foot contacts as they seem to drift around a lot. Is there any better way to detect contacts?TIA