need help about default robot joints order

[elpimous]

Hello all, i'm fighting for long months with the controller and my own robot, homemade one.

Could anyone confirm me the following things :

1/ in https://github.com/qiayuanliao/legged_control/blob/e2d920698bc87172002e66e478f7629a06be3c6f/legged_examples/legged_unitree/legged_unitree_hw/src/UnitreeHW.cpp#L73C54-L73C54,
jointData_[i] order is FR, FL, HR, HL, correct ?

it seems to confirm this order :
https://github.com/qiayuanliao/legged_control/blob/e2d920698bc87172002e66e478f7629a06be3c6f/legged_examples/legged_unitree/legged_unitree_hw/src/UnitreeHW.cpp#L89-L96

2/ All my motors are clockwise so, looking at those values :
https://github.com/qiayuanliao/legged_control/blob/e2d920698bc87172002e66e478f7629a06be3c6f/legged_controllers/config/a1/reference.info#L8-L19
, i should use those directions, correct ? :
FL haa (-)
FL hfe (-)
FL kfe (-)

HL haa (-)
HL hfe (-)
HL kfe (-)

FR haa (+)
FR hfe (+)
FR kfe (+)

HR haa (-)
HR hfe (+)
HR kfe (+)

3/ why this reference order isn't the same as the controller jointData_ one ?

Thanks a lot friends.
Vincent

[elpimous]

solved.