7. Global Value Definitions

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7.1 Full‑Body Joint ID Definitions

• Message name: MotorName
• Data definition file: MotorName.msg
• Description: The motor ID definitions for all joints of the Walker Tienkung series robots are as follows. They can be mapped to joint locations according to the different models of Walker Tienkung.

# head 00 + id
# Head motors, 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 are applicable to all Walker Tienkung models
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 are 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 are applicable to all Walker Tienkung models
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 are 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 are applicable to all Walker Tienkung models
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 are applicable to all Walker Tienkung models
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