Joint State Interface

TCP Query Motor Temperature

Parameter	Description	Data Type	Unit
LeftFrontSway	Left front HipX joint motor temperature	float	℃
LeftFrontHip	Left front HipY joint motor temperature	float	℃
LeftFrontKnee	Left front Knee joint motor temperature	float	℃
RightFrontSway	Right front HipX joint motor temperature	float	℃
RightFrontHip	Right front HipY joint motor temperature	float	℃
RightFrontKnee	Right front Knee joint motor temperature	float	℃
LeftBackSway	Left rear HipX joint motor temperature	float	℃
LeftBackHip	Left rear HipY joint motor temperature	float	℃
LeftBackKnee	Left rear Knee joint motor temperature	float	℃
RightBackSway	Right rear HipX joint motor temperature	float	℃
RightBackHip	Right rear HipY joint motor temperature	float	℃
RightBackKnee	Right rear Knee joint motor temperature	float	℃

UDP Joint Data Reporting

The motion host reports LegJointData struct data via UDP (included in ControllerSensorData):

Command Code	Command Type	Send Frequency
0x100A	1	200Hz

struct LegJointData{
  union{
    float data[12];
    struct{
      float fl_hipx_value, fl_hipy_value, fl_knee_value;
      float fr_hipx_value, fr_hipy_value, fr_knee_value;
      float hl_hipx_value, hl_hipy_value, hl_knee_value;
      float hr_hipx_value, hr_hipy_value, hr_knee_value;
    };
  };
};

Field	Type	Description
joint_pos	LegJointData	Joint position (rad)
joint_vel	LegJointData	Joint velocity (rad/s)
joint_tau	LegJointData	Joint torque (N·m)

The 12 joints are ordered as: left front HipX (fl_hipx), left front HipY (fl_hipy), left front Knee (fl_knee), right front HipX (fr_hipx), right front HipY (fr_hipy), right front Knee (fr_knee), left rear HipX (hl_hipx), left rear HipY (hl_hipy), left rear Knee (hl_knee), right rear HipX (hr_hipx), right rear HipY (hr_hipy), right rear Knee (hr_knee).

UDP Joint Temperature Reporting

The motion host reports joint temperature data via UDP (included in ControllerSafeData):

Command Code	Command Type	Send Frequency
0x100B	1	1Hz

Field	Type	Description
motor_temperature	float[12]	Motor temperature of 12 joints (℃)
driver_temperature	uint8_t[12]	Driver temperature of 12 joints (℃)