Closed zhuiyuehun closed 1 year ago
There may be a bias in imu's orientation output. Or the CoM of Go1 is not in the geometry center of the torso.
LF, LH, RF, RH.
Thank for your answer. If the center of gravity is not at the geometric center and offset so large distance, Can this repository handle it?
Yes
Hello,Mr Liao, I apply to go1 robot , as the title describes, the center of gravity always offset,even if I adjust to the middle position when it on stance mode, but change the mode to “trot”,it offset too.
And second question , The order of force data of “current state.input” is “LF LH RF RH” ,or. ”LF RF LH RH ”?