7. Global Value Description

7.1 Full Body Joint ID Definition

Message name: MotorName

Data definition location: MotorName.msg

Description: The naming ID definition of all motors in the Walker Tienkung series robots is as follows, which can be mapped according to the joint parts of different Walker Tienkung models.

# head 00 + id
# Head motors, all applicable to Walker Tienkung·Embodied Intelligence
uint16 MOTOR_HEAD_1 = 1 
uint16 MOTOR_HEAD_2 = 2 
uint16 MOTOR_HEAD_3 = 3 

# arm-left 10 + id
# Left arm motors, 11-14 applicable to Walker Tienkung and Walker Tienkung·Voice & Vision
uint16 MOTOR_ARM_LEFT_1 = 11
uint16 MOTOR_ARM_LEFT_2 = 12
uint16 MOTOR_ARM_LEFT_3 = 13
uint16 MOTOR_ARM_LEFT_4 = 14
# Left arm motors, 15-17 applicable to Walker Tienkung·Embodied Intelligence
uint16 MOTOR_ARM_LEFT_5 = 15
uint16 MOTOR_ARM_LEFT_6 = 16
uint16 MOTOR_ARM_LEFT_7 = 17

# arm-right 20 + id
# Right arm motors, 21-24 applicable to Walker Tienkung and Walker Tienkung·Voice & Vision
uint16 MOTOR_ARM_RIGHT_1 = 21
uint16 MOTOR_ARM_RIGHT_2 = 22
uint16 MOTOR_ARM_RIGHT_3 = 23
uint16 MOTOR_ARM_RIGHT_4 = 24
# Right arm motors, 25-27 applicable to Walker Tienkung·Embodied Intelligence
uint16 MOTOR_ARM_RIGHT_5 = 25
uint16 MOTOR_ARM_RIGHT_6 = 26
uint16 MOTOR_ARM_RIGHT_7 = 27

# body (including waist) 30 + id
# Waist motor, applicable to Walker Tienkung·Voice & Vision and Walker Tienkung·Embodied Intelligence
uint16 MOTOR_WAIST = 31

# leg-left 50 + id
# Left leg motors, 51-56 applicable to all Walker Tienkung series
uint16 MOTOR_LEG_LEFT_1 = 51
uint16 MOTOR_LEG_LEFT_2 = 52
uint16 MOTOR_LEG_LEFT_3 = 53
uint16 MOTOR_LEG_LEFT_4 = 54
uint16 MOTOR_LEG_LEFT_5 = 55
uint16 MOTOR_LEG_LEFT_6 = 56
# leg-right 60 + id
# Right leg motors, 61-66 applicable to all Walker Tienkung series
uint16 MOTOR_LEG_RIGHT_1 = 61
uint16 MOTOR_LEG_RIGHT_2 = 62
uint16 MOTOR_LEG_RIGHT_3 = 63
uint16 MOTOR_LEG_RIGHT_4 = 64
uint16 MOTOR_LEG_RIGHT_5 = 65
uint16 MOTOR_LEG_RIGHT_6 = 66